Comparison of Performance and Robustness for two Classical ILC Algorithms Applied to a Flexible System
2008 (English)Report (Other academic)
When an ILC algorithm is applied to an industrial robot, the goal is to move the tool along a desired trajectory, while only the motor position canbe measured. In this paper aspects of robustness and performance are discussed when an ILC algorithm is applied to a flexible two-mass system. It is shown that the stabilising controller of the two-mass system also directly affects the robustness properties of the ILC algorithm. A classical noncausa lP-ILC algorithm and a model-based ILC design using optimisation are applied to the system, based on the error for the first mass. Performance and robustness of the algorithms are compared when model errors are introduced in the system, showing that the optimisation-based approach can handle larger model uncertainties. It is illustrated that the performance of the overall system, when considering position of the second mass, is the practical limit compared to the limiting factor of the robustness of the ILC algorithms.
Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2008. , 10 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2868
Iterative learning control, Robotics, Robust control
IdentifiersURN: urn:nbn:se:liu:diva-56181ISRN: LiTH-ISY-R-2868OAI: oai:DiVA.org:liu-56181DiVA: diva2:316990