In real industries, the tracking tasks are normally classified into three control scenarios, i.e., tracking an entire reference trajectory, tracking specified multiple reference points, and tracking a single terminal point at the endpoint. The first scenario is most common in practical applications. The examples of the second scenario include robotic “pick and place” tasks, crane positioning, production line automation, and so on (Freeman and Tan 2012; Son et al. 2013; Dinh et al. 2012). The third scenario mainly focuses on the practical applications in process industry, such as rapid thermal processing (RTP) systems for chemical vapor deposition (Xu et al. 1999) and batch to batch processes (Gauthier and Boulet 2009; Chi et al. 2012; Flores-Cerrillo and MacGregor 2005). It is often that for the later two scenarios, the measurements at the other time instants than the specified ones are not available. So, the traditional ILC methods (Arimoto et al. 1984; Sun and Wang 2001; Chi et al. 2008; Chien 2008; Barton and Alleyne 2010) are not applicable for the specified points tracking tasks since they require the exact errors at all of the points of a desired reference trajectory. Therefore, some point-to-point ILC (PTPILC) (Freeman and Tan 2012; Son et al. 2013; Owens et al. 2012; Freeman 2012) and terminal ILC (TILC) (Xu et al. 1999; Gauthier and Boulet 2009; Chi et al. 2012; Flores-Cerrillo and MacGregor 2005; Mondal et al. 2010; Xu and Huang 2008; Hou et al. 2011; Chi et al. 2016) methods are proposed to track the intermediate pass points rather than all the points of a trajectory by using the errors at the given points only. Note that the TILC (Xu et al. 1999; Gauthier and Boulet 2009; Chi et al. 2012; Flores-Cerrillo and MacGregor 2005; Mondal et al. 2010; Xu and Huang 2008; Hou et al. 2011; Chi et al. 2016) only uses the information at the terminal point to update the learning law.
Data-Driven ILC for Specified Point Tracking
Intelligent Control & Learning Systems
Data-Driven Iterative Learning Control for Discrete-Time Systems ; Kapitel : 8 ; 133-153
2022-11-16
21 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
SAE Technical Papers | 1964
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