BIBO Stability of an Adaptive Time-Frequency Iterative Learning Control with Application to Microscale Robotic Deposition
Abstract
Microscale robotic deposition (µ-RD) is an emerging solid free-form manufacturing technique for construction of parts with microscale feature sizes. Part quality in this process is directly related to the robot tracking performance. In this paper an adaptive iterative learning control algorithm using a time-varying Q-filter is presented for robust high performance tracking control of the µ-RD robot. Using a switched systems analysis, the existence of a minimum dwell time for BIBO stability is demonstrated. Experimental results show the ability of the adaptive algorithm to stably improve performance over the initial fixed filter. The development of multi-ink valves allows construction of parts with multiple materials interlaced throughout and a sample two-ink manufactured part is presented.
Recommended Citation
D. A. Bristow and A. G. Alleyne, "BIBO Stability of an Adaptive Time-Frequency Iterative Learning Control with Application to Microscale Robotic Deposition," Proceedings of the 2005 American Control Conference, Institute of Electrical and Electronics Engineers (IEEE), Jan 2005.
The definitive version is available at https://doi.org/10.1109/ACC.2005.1470708
Meeting Name
American Control Conference, 2005
Department(s)
Mechanical and Aerospace Engineering
Keywords and Phrases
Adaptive Control; Coating Techniques; Learning (Artificial Intelligence); Microrobots; Position Control; Stability; Time-Varying Filters
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2005 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.
Publication Date
01 Jan 2005
