Iterative learning control
- Iterative learning control
Iterative Learning Control (ILC) is a method of tracking control for systems that work in a repetitive mode. Examples of systems that operate in a repetitive manner include robot arm manipulators, chemical batch processes and reliability testing rigs. In each of these tasks the system is required to perform the same action over and over again with high precision.
By using information from previous repetitions, a suitable control action can found iteratively. The internal model principle yields conditions under which perfect tracking can be achieved. A typical control law is of the form:
:
where is the input to the system during the pth repetition, is the tracking error during the pth repetition and K is a design parameter.
References
*cite journal
author = S.Arimoto, S. Kawamura and F. Miyazaki
title = Bettering operation of robots by learning
journal = Journal of Robotic Systems
year = 1984
volume = 1
pages = 123–140
doi = 10.1002/rob.4620010203
*cite book
last = Moore
first = K.L.
year = 1993
title = Iterative Learning Control for Deterministic Systems
publisher = Springer-Verlag
location = London
*cite book
author = Jian-Xin Xu; Ying Tan.
year = 2003
title = Linear and Nonlinear Iterative Learning Control
publisher = Springer-Verlag
pages = 177
*cite journal
author = Bristow, D. A. Tharayil, M. Alleyne, A. G.
title = A Survey of Iterative Learning Control A learning-based method for high-performance tracking control
journal = IEEE control systems magazine
year = 2006
volume = Vol. 26
pages = pages 96–114
*cite journal
author = Owens D.H.; Feng K.
title = Parameter optimization in iterative learning control
journal = International Journal of Control
date = 20 July 2003
volume = Volume 76
pages = 1059–1069
doi = 10.1080/0020717031000121410
*cite journal
author = Owens D.H. ; Hätönen J.
title = Iterative learning control — An optimization paradigm
journal = Annual Reviews in Control
year = 2005
volume = 29
pages = 57–70
doi = 10.1016/j.arcontrol.2005.01.003
External links
* [http://www.sheffield.ac.uk/ilc Southampton Sheffield Iterative Learning Control (SSILC)]
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