Residual vibration suppression using Hankel iterative learning control

Jeroen van de Wijdeven

Control Systems Technology Group, Faculty of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands

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Okko Bosgra,

Corresponding Author

Okko Bosgra

[email protected]

Control Systems Technology Group, Faculty of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands

Control Systems Technology Group, Faculty of Mechanical Engineering, Eindhoven University of Technology, WH-1.145, P.O. Box 513, 5600 MB Eindhoven, The Netherlands===Search for more papers by this author

Jeroen van de Wijdeven,

Jeroen van de Wijdeven

Control Systems Technology Group, Faculty of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands

Search for more papers by this author

Okko Bosgra,

Corresponding Author

Okko Bosgra

[email protected]

Control Systems Technology Group, Faculty of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands

First published: 06 June 2007

https://doi.org/10.1002/rnc.1228

Citations: 52

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Abstract

In this paper, we present a new approach for suppression of residual vibrations in point-to-point motions based on lifted iterative learning control (ILC). The approach is to add a signal to the command input during the point-to-point motion in order to compensate for residual vibrations. A special form of ILC with separate actuation and observation time windows is shown to converge to the required signal. Subsequently, we present ILC control strategies for residual vibration suppression in which convergence and performance specifications can be designed separately. Additionally, the designed controllers have the capability to constrain the amplitude of the command signal. The presented strategies are demonstrated on a flexible system and shown to be successful in the suppression of residual vibration while minimizing the maximum amplitude of the command signal. Copyright © 2007 John Wiley & Sons, Ltd.

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Volume18, Issue10

Special Issue:Robust Iterative Learning Control: Theory and Experimental Verification

10 July 2008

Pages 1034-1051

Residual vibration suppression using Hankel iterative learning control

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Residual vibration suppression using Hankel iterative learning control

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