Combined Time-Domain Optimization Design for Task-Flexible and High Performance ILC

Conference paper (2024)

Authors

Kentaro Tsurumoto University of Tokyo
Wataru Ohnishi University of Tokyo
Takafumi Koseki University of Tokyo
Max van Haren Eindhoven University of Technology
Tom Oomen Eindhoven University of Technology, Team Jan-Willem van Wingerden - Mechanical, Maritime and Materials Engineering
Research Group
Team Jan-Willem van Wingerden (Mechanical, Maritime and Materials Engineering) (TU Delft)
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Published Date

2024

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Jan-Willem van Wingerden

Abstract

Iterative learning control (ILC) yields substantial performance improvement for repetitive motion tasks. While task-flexibility for non-repetitive motion tasks can be achieved with the use of basis functions, this typically comes with a trade-off in performance or design parameters. This study aims to achieve both task-flexibility and high performance with a single time-domain optimization framework. By defining a criterion combining the cost for performance and task-flexibility, an optimal feedforward with task-flexibility of basis function ILC and high performance surpassing standard norm-optimal ILC is obtained. Numerical validation on a two-mass motion system confirm the capabilities of the developed framework.

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