Cross-coupled iterative learning control
A computationally efficient approach applied to an industrial flatbed printer
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)
Tom Oomen (Eindhoven University of Technology, TU Delft - Team Jan-Willem van Wingerden)
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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.
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