Title :
Norm-Optimal Iterative Learning Control Applied to Gantry Robots for Automation Applications
Author :
Ratcliffe, James D. ; Lewin, Paul L. ; Rogers, Eric ; Hatonen, J.J. ; Owens, David H.
Author_Institution :
Sch. of Electron. & Comput. Sci., Southampton Univ.
Abstract :
This paper is concerned with the practical implementation of the norm-optimal iterative learning control (NOILC) algorithm. Here, the complexity of this algorithm is first considered with respect to real-time control applications, and a new modified version, fast norm-optimal ILC (F-NOILC), is derived for this application, which potentially allows implementation with a sampling rate three times faster that the original algorithm. A performance index is used to assess the experimental results obtained from applying F-NOILC to an industrial gantry robot system and, in particular, the effects of varying the parameters in the cost function, which is at the heart of the norm-optimal approach
Keywords :
adaptive control; industrial robots; iterative methods; learning systems; performance index; algorithm complexity; automation applications; cost function; fast norm-optimal iterative learning control; industrial gantry robot system; performance index; real-time control applications; Automatic control; Cost function; Frequency; Iterative algorithms; Optimal control; Robotics and automation; Sampling methods; Service robots; Signal processing algorithms; Trajectory; Iterative control; iterative methods; learning control; real-time control; signal processing;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2006.882927
