Cross-coupled iterative learning control

A computationally efficient approach applied to an industrial flatbed printer

Journal article (2024)

Authors

Leontine Aarnoudse Eindhoven University of Technology
Johan Kon Eindhoven University of Technology
Koen Classens Eindhoven University of Technology
Max van Meer Eindhoven University of Technology
Maurice Poot Eindhoven University of Technology
Paul Tacx Eindhoven University of Technology
Nard Strijbosch Eindhoven University of Technology
T.A.E. Oomen Team Jan-Willem van Wingerden - Mechanical, Maritime and Materials Engineering , Eindhoven University of Technology
Research Group
Team Jan-Willem van Wingerden (Mechanical, Maritime and Materials Engineering) (TU Delft)
Feedforward control Iterative learning control Contour tracking
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Published Date

2024

Language

English

Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Jan-Willem van Wingerden

Abstract

Cross-coupled iterative learning control (ILC) can improve the contour tracking performance of manufacturing systems significantly. This paper aims to develop a framework for norm-optimal cross-coupled ILC that enables intuitive tuning of time- and iteration-varying weights of the exact contour error and its tangential counterpart. This leads to an iteration-varying ILC algorithm for which convergence conditions are developed. In addition, a resource-efficient implementation is developed that reduces the computational load significantly and enables the use of long reference signals. The approach is experimentally validated on an industrial flatbed printer.