Integrated Rational Feedforward in Frequency-Domain Iterative Learning Control for Highly Task-Flexible Motion Control

Journal article (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 Team Jan-Willem van Wingerden - Mechanical, Maritime and Materials Engineering , Eindhoven University of Technology
Research Group
Team Jan-Willem van Wingerden (Mechanical, Maritime and Materials Engineering) (TU Delft)
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Published Date

2024

Language

English

Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Jan-Willem van Wingerden

Abstract

Iterative learning control yields accurate feedforward input by utilizing experimental data from past iterations. However, typically there exists a tradeoff between task flexibility and tracking performance. This study aims to develop a learning framework with both high task-flexibility and high tracking-performance by integrating rational basis functions with frequency-domain learning. Rational basis functions enable the learning of system zeros, enhancing system representation compared to polynomial basis functions. The developed framework is validated through a two-mass motion system, showing high tracking-performance with high task-flexibility, enhanced by the rational basis functions effectively learning the flexible dynamics.