Jeroen Willems, E. Hostens, B. Depraetere, A. Steinhauser, J. Swevers
{"title":"Learning Control in Practice: Novel Paradigms for Industrial Applications","authors":"Jeroen Willems, E. Hostens, B. Depraetere, A. Steinhauser, J. Swevers","doi":"10.1109/CCTA.2018.8511491","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 IEEE Conference on Control Technology and Applications (CCTA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCTA.2018.8511491","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 5
Abstract
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.
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