scholarly journals Overcoming Output Constraints in Iterative Learning Control Systems by Reference Adaptation

2020 ◽  
Vol 53 (2) ◽  
pp. 1480-1486
Author(s):  
Michael Meindl ◽  
Fabio Molinari ◽  
Jörg Raisch ◽  
Thomas Seel
Keyword(s):  
Control Systems ◽  
Iterative Learning Control ◽  
Learning Control ◽  
Iterative Learning ◽  
Output Constraints

Eliminating Structural Error in Real-Time Adjustable Four-Bar Path Generators Using Iterative Learning Control

2004 ◽  
Author(s):  
Hong-Jen Chen ◽  
Richard W. Longman ◽  
Meng-Sang Chew
Keyword(s):  
Control Systems ◽  
Real Time ◽  
Iterative Learning Control ◽  
Learning Control ◽  
Iterative Learning ◽  
Path Generation ◽  
Structural Error ◽  
Four Bar Linkage

Fundamental concepts of Iterative Learning Control (ILC) are applied to path generating problems in mechanisms. As an illustration to such class of problems, an adjustable four-bar linkage is used. The coupler point of a four-bar traces a coupler curve that will in general deviate from the desired coupler path. Except at the precision points, the coupler curve will exhibit some structural error, which is the deviation from the specified curve. The structural error will repeat itself every cycle at exactly the same points over the range of interest. Since ILC is a methodology that was developed to handle similar repetitive errors in control systems, it is believed that it will be well served to apply it to this class of problems. Results show that ILC can be simple to implement, and it is found to be very well suited for such path generation problems.

Sign in / Sign up

Export Citation Format

Share Document