https://scholars.lib.ntu.edu.tw/handle/123456789/606977
標題: | Accelerated Convergence Interleaving Iterative Learning Control and Inverse Dynamics Identification | 作者: | Chen C.-W CHENG-WEI CHEN |
關鍵字: | Feedforward systems;Finite impulse response filters;Inverse problems;Iterative learning control (ILC);Motion control;Iterative methods;Learning algorithms;Numerical methods;Accelerated convergence;Inverse dynamics;Inverse modeling;Iterative learning control;Linear time-invariant system;Measurement Noise;Numerical instability;Simulation comparison;Two term control systems | 公開日期: | 2022 | 卷: | 30 | 期: | 1 | 起(迄)頁: | 45-56 | 來源出版物: | IEEE Transactions on Control Systems Technology | 摘要: | This work aims to quickly identify an FIR inverse dynamical model for linear time-invariant (LTI) systems. Various applications are enabled using the constructed inverse filter, as illustrated by an inversion-based iterative learning control (ILC) algorithm. With the help of interleaving inversion-based ILC and ILC-based inverse dynamics identification, accelerated convergence is obtained. The proposed method removes the numerical instability issues in the calculation of an inverse model. Hence, it is shown more robust against measurement noises. Both simulation comparison and experimental results demonstrate the efficacy and advantages of the proposed strategy. ? 1993-2012 IEEE. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85100832751&doi=10.1109%2fTCST.2021.3053561&partnerID=40&md5=19cc37a0005d242f475d6e208b1377f7 https://scholars.lib.ntu.edu.tw/handle/123456789/606977 |
ISSN: | 10636536 | DOI: | 10.1109/TCST.2021.3053561 |
顯示於: | 電機工程學系 |
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