Development of Robust Learning Control and Application to Motion Control

Meng-Shiun Tsai, Chung-Liang Yen, Hong-Tzong Yau

Abstract

In this paper, the error dynamic equation of the ILC algorithm is derived with consideration of parameter uncertainties and noise. The H∞ frame work is utilized using the derived error dynamics to design the robust learning controller. The proper learning gain is designed based on an optimization process to ensure that both tracking performance and convergence condition can be achieved. Simulation and experiments are conducted to validate the robust learning algorithm and the system is stable ever under high payload uncertainty.

References

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Paper Citation


in Harvard Style

Tsai M., Yen C. and Yau H. (2012). Development of Robust Learning Control and Application to Motion Control . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-21-1, pages 148-152. DOI: 10.5220/0004008601480152


in Bibtex Style

@conference{icinco12,
author={Meng-Shiun Tsai and Chung-Liang Yen and Hong-Tzong Yau},
title={Development of Robust Learning Control and Application to Motion Control},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2012},
pages={148-152},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004008601480152},
isbn={978-989-8565-21-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Development of Robust Learning Control and Application to Motion Control
SN - 978-989-8565-21-1
AU - Tsai M.
AU - Yen C.
AU - Yau H.
PY - 2012
SP - 148
EP - 152
DO - 10.5220/0004008601480152