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Author Janssens, P. ♦ Van Loock, W. ♦ Pipeleers, G. ♦ Debrouwere, F. ♦ Swevers, J.
Sponsorship IEEE Control Syst. Soc.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2013
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Mathematical model ♦ Computational modeling ♦ Equations ♦ Trajectory ♦ Heuristic algorithms ♦ Dynamics ♦ Tracking
Abstract In optimal path following problems the motion along a given geometric path is optimized according to a desired objective while accounting for the system dynamics and system constraints. In the case of time-optimal path following, for example, the system input to move along the geometric path in minimal time is computed. In practice however, due to model-plant mismatch, (i) the geometric path is not followed exactly, and (ii) the optimized trajectory might be suboptimal, or even infeasible for the true plant. Assuming that the system performs the task repeatedly, this paper proposes an iterative learning control approach to improve the path following performance. The proposed learning algorithm is experimentally validated for a time-optimal path following problem on an XY-table. The results show that the developed ILC approach improves both the execution time and the accuracy significantly.
Description Author affiliation: Dept. of Mech. Eng., Katholieke Univ. Leuven, Heverlee, Belgium (Janssens, P.; Van Loock, W.; Pipeleers, G.; Debrouwere, F.; Swevers, J.)
ISBN 9781467357142
ISSN 07431546
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2013-12-10
Publisher Place Italy
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
e-ISBN 9781467357173
Size (in Bytes) 323.59 kB
Page Count 6
Starting Page 6670
Ending Page 6675


Source: IEEE Xplore Digital Library