Publication Details

SELECT * FROM publications WHERE Record_Number=10700
Reference TypeJournal Article
Author(s)Maeda, G. J.; Manchester, I. & Rye, D
TitleCombined ILC and Disturbance Observer for the Rejection of Near-Repetitive Disturbances, with Application to Excavation
Journal/Conference/Book TitleIEEE Transactions on Control Systems Technology
AbstractThis work proposes a new control structure for tasks where explicit disturbance compensation is critical for overcoming poor feedback performance, but is also challenging due to the complexity and non-repetitive nature of the interaction between the plant and the environment. The approach proposed uses a particular form of iterative learning control (ILC) to estimate the previous disturbances, which are used as a preview of the disturbance in the next iteration. A disturbance observer is used to compensate for the difference between the ILC prediction and the true disturbance. The controller is evaluated and compared with a proportional controller, with ILC, and with an observer-based controller in extensive field trials using an automated excavator.
Pages1754 - 1769
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