Adaptive zero-phase filtering bandwidth of iterative learning control by particle swarm optimization

Yi Wei Su, Jen Ai Chao, Yi-Cheng Huang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper utilized the improved particle swarm optimization (IPSO) technique for adjusting the gains of PID controller, Iterative Learning Control (ILC) and the bandwidth of zero-phase Butterworth filter of ILC. The conventional ILC learning process has the potential to excite rich frequency contents and try to learn the error signals. However the learnable and unlearnable error signals should be separated for bettering control process as repetition goes. Producing unlearnable frequencies for error compensation signals should be avoided when the filter bandwidth is not changed at every repetition. Thus the adaptive bandwidth in ILC with the aid of IPSO tuning is proposed here. Simulation results show the controller can cancel the errors as repetition goes. The frequency response of the error signals is verified by the Hilbert Huang Transform (HHT) method. Tracking errors are reduced and validated with application to positioning profile of the Computer Numerical Control (CNC) machine tool and robot arm systems.

Original languageEnglish
Title of host publicationProceedings of the 2nd International Conference on Intelligent Technologies and Engineering Systems, ICITES 2013
EditorsCheng-Yi Chen, Cheng-Fu Yang, Jengnan Juang
PublisherSpringer Verlag
Pages1031-1037
Number of pages7
ISBN (Electronic)9783319045726
DOIs
Publication statusPublished - 2014 Jan 1
Event2nd International Conference on Intelligent Technologies and Engineering Systems, ICITES 2013 - Kaohsiung, Taiwan
Duration: 2013 Dec 122013 Dec 14

Publication series

NameLecture Notes in Electrical Engineering
Volume293
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

Other

Other2nd International Conference on Intelligent Technologies and Engineering Systems, ICITES 2013
CountryTaiwan
CityKaohsiung
Period13-12-1213-12-14

Fingerprint

Particle swarm optimization (PSO)
Bandwidth
Butterworth filters
Error compensation
Controllers
Machine tools
Frequency response
Tuning
Mathematical transformations
Robots

All Science Journal Classification (ASJC) codes

  • Industrial and Manufacturing Engineering

Cite this

Su, Y. W., Chao, J. A., & Huang, Y-C. (2014). Adaptive zero-phase filtering bandwidth of iterative learning control by particle swarm optimization. In C-Y. Chen, C-F. Yang, & J. Juang (Eds.), Proceedings of the 2nd International Conference on Intelligent Technologies and Engineering Systems, ICITES 2013 (pp. 1031-1037). (Lecture Notes in Electrical Engineering; Vol. 293). Springer Verlag. https://doi.org/10.1007/978-3-319-04573-3_126
Su, Yi Wei ; Chao, Jen Ai ; Huang, Yi-Cheng. / Adaptive zero-phase filtering bandwidth of iterative learning control by particle swarm optimization. Proceedings of the 2nd International Conference on Intelligent Technologies and Engineering Systems, ICITES 2013. editor / Cheng-Yi Chen ; Cheng-Fu Yang ; Jengnan Juang. Springer Verlag, 2014. pp. 1031-1037 (Lecture Notes in Electrical Engineering).
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Su, YW, Chao, JA & Huang, Y-C 2014, Adaptive zero-phase filtering bandwidth of iterative learning control by particle swarm optimization. in C-Y Chen, C-F Yang & J Juang (eds), Proceedings of the 2nd International Conference on Intelligent Technologies and Engineering Systems, ICITES 2013. Lecture Notes in Electrical Engineering, vol. 293, Springer Verlag, pp. 1031-1037, 2nd International Conference on Intelligent Technologies and Engineering Systems, ICITES 2013, Kaohsiung, Taiwan, 13-12-12. https://doi.org/10.1007/978-3-319-04573-3_126

Adaptive zero-phase filtering bandwidth of iterative learning control by particle swarm optimization. / Su, Yi Wei; Chao, Jen Ai; Huang, Yi-Cheng.

Proceedings of the 2nd International Conference on Intelligent Technologies and Engineering Systems, ICITES 2013. ed. / Cheng-Yi Chen; Cheng-Fu Yang; Jengnan Juang. Springer Verlag, 2014. p. 1031-1037 (Lecture Notes in Electrical Engineering; Vol. 293).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AB - This paper utilized the improved particle swarm optimization (IPSO) technique for adjusting the gains of PID controller, Iterative Learning Control (ILC) and the bandwidth of zero-phase Butterworth filter of ILC. The conventional ILC learning process has the potential to excite rich frequency contents and try to learn the error signals. However the learnable and unlearnable error signals should be separated for bettering control process as repetition goes. Producing unlearnable frequencies for error compensation signals should be avoided when the filter bandwidth is not changed at every repetition. Thus the adaptive bandwidth in ILC with the aid of IPSO tuning is proposed here. Simulation results show the controller can cancel the errors as repetition goes. The frequency response of the error signals is verified by the Hilbert Huang Transform (HHT) method. Tracking errors are reduced and validated with application to positioning profile of the Computer Numerical Control (CNC) machine tool and robot arm systems.

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Su YW, Chao JA, Huang Y-C. Adaptive zero-phase filtering bandwidth of iterative learning control by particle swarm optimization. In Chen C-Y, Yang C-F, Juang J, editors, Proceedings of the 2nd International Conference on Intelligent Technologies and Engineering Systems, ICITES 2013. Springer Verlag. 2014. p. 1031-1037. (Lecture Notes in Electrical Engineering). https://doi.org/10.1007/978-3-319-04573-3_126