Iterative Learning Control of Minimum Energy Path Following Tasks for Second-Order MIMO Systems: An Indirect Reference Update Framework

摘要

In a large range of manufacturing tasks, the design objective is characterised as following a given path defined in space. In these applications, the tracking time of any particular position along the path is not specified, so an appropriate motion profile can be chosen among its admissible solutions to improve its tracking performance. This article develops an indirect reference update framework that maximizes accuracy while embedding practical constraints. An optimal path planning problem, incorporating system constraints, is formulated and can be solved using a discretized approach to derive a motion profile that minimizes control energy for a broad spectrum of industrial tasks. To satisfy robustness concerns, an iterative learning control (ILC) algorithm with an indirect reference update framework is designed to improve the accuracy and robustness of path following. It is evaluated on a gantry robot test platform, and the results illustrate superior levels of practical performance in terms of energy reduction and path following accuracy compared with existing approaches.