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Swevers (2014),
Experimental Validation of Robust Iterative Learning Control on
an Overhead Crane Test Setup
Proceedings of the 19th IFAC World Congress, Cape Town, South
Africa, August 24-29, 2014
Archived version Author manuscript: the content is identical to the content of the pub-
lished paper, but without the final typesetting by the publisher
IR https://lirias.kuleuven.be/handle/123456789/440802
Abstract: This paper presents an experimental validation of a recently proposed robust norm-
optimal iterative learning control (ILC). The robust ILC input is computed by minimizing the
worst-case value of a performance index under model uncertainty, yielding a convex optimization
problem. The proposed robust ILC design is experimentally validated on a lab scale overhead
crane system, showing the advantages of the approach over classical ILC designs in monotonic
convergence and tracking performance.
The presented robust ILC algorithm is implemented and 106 (1.508z 2 + 6.03z + 1.508)
Pinacc (z) = . (17)
evaluated experimentally on a lab scale overhead crane. z 3 2.998z 2 + 2.998z 1
We also compare our robust ILC with the classical norm- Second, the accurate discrete-time system model Pacc (z) is
optimal ILC and zero-phase low-pass filter ILC designs. derived using multisine excitation and frequency domain
The objective is to examine the properties of the ILC identification (Pintelon and Schoukens, 2001), yielding
methods for two different levels of uncertainty. Therefore
two models of the setup are considered: an inaccurate Inaccurate model Accurate model Measured FRF
model with large uncertainty weight and an accurate
model with small uncertainty weight. This section consists 40
Magnitude [dB]
System descriptions: The overhead crane is shown in Fig. 3. Bode plots of measured frequency response func-
Figure 1 and drawn schematically in Figure 2. The position tion, and the accurate and inaccurate model
Absolute error Uncertainty weight The weight S is selected as S = 0 for the smallest
possible steady state error.
Magnitude [dB]
40
In order to deal with input constraints, the constraints
0 kuj+1 k 0.8 and kuj+1 k 0.05 are imposed in both
40
robust ILC algorithm (15) and classical norm-optimal ILC
algorithm (8).
80
102 101 100 Zero-phase low-pass filter ILC: The zero-phase low-pass
Frequency [Hz]
filter ILC approach is an ILC design that can cope with
high frequency un-modelled dynamics (Longman, 2000).
Magnitude [dB]
Control objectives: The aim of the experiments is to Fig. 6 demonstrates that both robust ILC and classical
track a reference trajectory, shown in Fig. 5, considering norm-optimal ILC can achieve monotonic convergence
input constraints: |u(k)| 0.8 V and |u(k)| 0.05 V. and similar steady state error (e 0.1), while the
convergence speed of robust ILC is slightly lower than
0.3 for classical ILC design, especially in the first 5 trials.
The difference in convergence speed is explained by the
yd [m]
1
The weight Q determines the transient and converged
performance errors. Q is selected as an identity ma- 0.2
trix, i.e. Q = I for an equal weight on all time
samples. 0.05
2 4 6 8 10
The weight R determines the convergence speed, and
kRk > 0 is used to be robust against trial-varying Trial
effects such as random disturbances and initial con-
ditions. We select R = 106 I for fast convergence Fig. 6. Tracking errors in trial domain of the ILC con-
speed purposes. trollers for the accurate model
Robust ILC Classical ILC Filter ILC Robust ILC Classical ILC Filter ILC
0.3 4
kej k [m]
y10 [m]
2
0.15
1
0 0.5
0 1 2 3 4 5 2 4 6 8 10
Time [s] Trial
0.05
Fig. 9. Tracking errors in trial domain of the ILC con-
0.02 trollers for the inaccurate model
e10 [m]
0
International Journal of Modelling, Identification and
0.15
Control, 4(4), 315322.
0.3
Pintelon, R. and Schoukens, J. (2001). System Identi-
fication: A Frequency Domain Approach. Wiley-IEEE
0 1 2 3 4 5 Press, New York.
Time [s] Rogers, E., Lam, J., Galkowski, K., Xu, S., Wood, J., and
0.4 Owens, D. (2001). LMI based stability analysis and
controller design for a class of 2D discrete linear systems.
0.2 In Proceedings of the 40th IEEE Conference on Decision
e10 [m]