Energy-Optimal Time Allocation in Point-to-Point ILC With Specified Output Tracking

被引：7
|
作者：
Zhao, Xingding [1 ]
Wang, Youqing [2 ]
机构：
[1] Beijing Univ Chem Technol, Coll Informat Sci & Technol, Beijing 100029, Peoples R China
[2] Shandong Univ Sci & Technol, Coll Elect Engn & Automat, Qingdao 266590, Shandong, Peoples R China
来源：
IEEE ACCESS | 2019年 / 7卷
基金：
中国国家自然科学基金;
关键词：
Iterative learning control; tracking-time allocation; output tracking; point-to-point; ITERATIVE LEARNING CONTROL; SYSTEMS; ALGORITHMS;
D O I：
10.1109/ACCESS.2019.2937972
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
For the point-to-point (P2P) iterative learning control (ILC), the tracked-points are usually known. However, in many cases, time allocation can be regarded as an optimization variable to achieve optimal control energy. Also, in some situations, only information on certain dimensions in the output is needed to be tracked. Based on the combination of the above two aspects, this paper studies energy-optimal time allocation in P2P ILC with specified output tracking. An algorithm based on a two-stage optimization framework that integrates the norm-optimal ILC and the gradient method is proposed. The proposed algorithm is further extended to a system with input constraints, and its robustness is analyzed. Finally, simulation tests on a gantry robot are performed to validate the performance of the proposed algorithm.
引用
收藏
页码：122595 / 122604
页数：10
相关论文
共 50 条
  • [1] Optimal Time Allocation of Point-to-Point Iterative Learning Control with Specified Output Tracking
    Zhao, Xingding
    Wang, Youqing
    [J]. PROCEEDINGS OF 2018 IEEE 7TH DATA DRIVEN CONTROL AND LEARNING SYSTEMS CONFERENCE (DDCLS), 2018, : 390 - 395
  • [2] Energy-Optimal Time Allocation of a Series of Point-to-Point Motions
    Janssens, Pieter
    Pipeleers, Goele
    Diehl, Moritz
    Swevers, Jan
    [J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2014, 22 (06) : 2432 - 2435
  • [3] A coordinate descent approach to optimal tracking time allocation in point-to-point ILC
    Chen, Yiyang
    Chu, Bing
    Freeman, Christopher T.
    [J]. MECHATRONICS, 2019, 59 : 25 - 34
  • [4] Energy-optimal time allocation of a series of point-to-point motions: demonstration on a badminton robot
    Janssens, Pieter
    Pipeleers, Goele
    Diehl, Moritz
    Pinte, Gregory
    Swevers, Jan
    [J]. MECATRONICS REM 2012, 2012, : 27 - 31
  • [5] Energy-optimal point-to-point wireless data communications
    Erin, AC
    Asada, HH
    [J]. 2001 IEEE INTERNATIONAL CONFERENCE ON COMMUNICATIONS, VOLS 1-10, CONFERENCE RECORD, 2001, : 2410 - 2415
  • [6] Point-to-Point Iterative Learning Control with Optimal Tracking Time Allocation
    Chen, Yiyang
    Chu, Bing
    Freeman, Christopher T.
    [J]. 2015 54TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC), 2015, : 6089 - 6094
  • [7] Point-to-Point Iterative Learning Control With Optimal Tracking Time Allocation
    Chen, Yiyang
    Chu, Bing
    Freeman, Christopher T.
    [J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2018, 26 (05) : 1685 - 1698
  • [8] Point-to-Point Repetitive Control with Optimal Tracking Time
    Wu, Maxwell
    Vermillion, Chris
    Barton, Kira
    [J]. 2021 60TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC), 2021, : 5845 - 5850
  • [9] Point-to-Point Iterative Learning Control with Optimal Tracking Time Allocation: A Coordinate Descent Approach
    Chen, Yiyang
    Chu, Bing
    Freeman, Christopher T.
    [J]. PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017), 2017, : 3298 - 3303
  • [10] Offset-free Energy-optimal Model Predictive Control for Point-to-point Motions
    Wang, Xin
    Swevers, Jan
    [J]. 2015 AMERICAN CONTROL CONFERENCE (ACC), 2015, : 250 - 255
12345