Linear Iterative Learning Control (ILC) algorithms have been known to also perform well for nonlinear systems whose dominant system dynamics are linear. In order for the learning filter to take advantage of more system information, we propose here a model based ILC algorithm which uses an iteration varying learning filter. Before the next iteration’s feedforward control is computed, the linearized system model is first estimated using a least squares approximation. We implement this algorithm on a wafer stage prototype whose dominant system dynamics are linear with a weak nonlinear actuator disturbance. Because the nonlinear disturbance is state dependent, the linear dynamics will shift as the ILC algorithm is converging. We show that as the system converges to the desired trajectory the plant parameter also converge.
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ASME 2009 Dynamic Systems and Control Conference
October 12–14, 2009
Hollywood, California, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4893-7
PROCEEDINGS PAPER
Identification in Iterative Learning Control: A Model Based, Iteration Varying Learning Filter for Precision Control
Benjamin T. Fine,
Benjamin T. Fine
Sandia National Laboratories, Albuquerque, NM
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Hoday Stearns,
Hoday Stearns
University of California at Berkeley, Berkeley, CA
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Masayoshi Tomizuka
Masayoshi Tomizuka
University of California at Berkeley, Berkeley, CA
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Benjamin T. Fine
Sandia National Laboratories, Albuquerque, NM
Hoday Stearns
University of California at Berkeley, Berkeley, CA
Masayoshi Tomizuka
University of California at Berkeley, Berkeley, CA
Paper No:
DSCC2009-2726, pp. 557-564; 8 pages
Published Online:
September 16, 2010
Citation
Fine, BT, Stearns, H, & Tomizuka, M. "Identification in Iterative Learning Control: A Model Based, Iteration Varying Learning Filter for Precision Control." Proceedings of the ASME 2009 Dynamic Systems and Control Conference. ASME 2009 Dynamic Systems and Control Conference, Volume 2. Hollywood, California, USA. October 12–14, 2009. pp. 557-564. ASME. https://doi.org/10.1115/DSCC2009-2726
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