Learning Control in Practice: Novel Paradigms for Industrial Applications
- Willems, Jeroen
- Hostens, Erik
- Depraetere, Bruno
- Steinhauser, Armin
- Swevers, Jan
Publication date
August 2018
DOI Publisher
Institute of Electrical and Electronics Engineers (IEEE)Abstract
© 2018 IEEE. This paper presents a number of solutions to issues with learning control in practice. We use RoFALT, a freely-available, model-based iterative learning control (ILC) tool for nonlinear systems, which implements an optimization-based two-step approach. We augment it with concepts to improve robustness, convergence speed, and avoid high computational loads online. These concepts are illustrated on an electromechanical set-up with slider-crank mechanism.status: publishe
Add to ORKG