Implementation of Iterative Learning Control on a Pneumatic Actuator
Pneumatic actuators demonstrate various nonlinear and uncertain behavior, and as a result, precise control of such actuators with model-based control schemes is challenging. The Iterative Learning Control (ILC) algorithm is a model-free control method usually used for repetitive processes. The ILC u...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-08-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/11/8/240 |
| _version_ | 1797432619190714368 |
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| author | James Rwafa Farzad Ghayoor |
| author_facet | James Rwafa Farzad Ghayoor |
| author_sort | James Rwafa |
| collection | DOAJ |
| description | Pneumatic actuators demonstrate various nonlinear and uncertain behavior, and as a result, precise control of such actuators with model-based control schemes is challenging. The Iterative Learning Control (ILC) algorithm is a model-free control method usually used for repetitive processes. The ILC uses information from previous repetitions to learn about a system’s dynamics for generating a more suitable control signal. In this paper, an ILC method to overcome the nonlinearities and uncertainties in a pneumatic cylinder-piston actuator is suggested. The actuator is modeled using MATLAB SimScape blocks, and the ILC scheme has been expanded for controlling nonlinear, non-repetitive systems so that it can be used to control the considered pneumatic system. The simulation results show that the designed ILC controller is capable of tracking a non-repetitive reference signal and can overcome the internal and payload uncertainties with the precision of 0.002 m. Therefore, the ILC can be considered as an approach for controlling the pneumatic actuators, which is challenging to obtain their mathematical modeling. |
| first_indexed | 2024-03-09T10:03:14Z |
| format | Article |
| id | doaj.art-31d0ea175875449a893e7c9edd8e6ead |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-09T10:03:14Z |
| publishDate | 2022-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-31d0ea175875449a893e7c9edd8e6ead2023-12-01T23:14:49ZengMDPI AGActuators2076-08252022-08-0111824010.3390/act11080240Implementation of Iterative Learning Control on a Pneumatic ActuatorJames Rwafa0Farzad Ghayoor1School of Engineering, University of KwaZulu-Natal, Durban 4000, South AfricaSchool of Engineering, University of KwaZulu-Natal, Durban 4000, South AfricaPneumatic actuators demonstrate various nonlinear and uncertain behavior, and as a result, precise control of such actuators with model-based control schemes is challenging. The Iterative Learning Control (ILC) algorithm is a model-free control method usually used for repetitive processes. The ILC uses information from previous repetitions to learn about a system’s dynamics for generating a more suitable control signal. In this paper, an ILC method to overcome the nonlinearities and uncertainties in a pneumatic cylinder-piston actuator is suggested. The actuator is modeled using MATLAB SimScape blocks, and the ILC scheme has been expanded for controlling nonlinear, non-repetitive systems so that it can be used to control the considered pneumatic system. The simulation results show that the designed ILC controller is capable of tracking a non-repetitive reference signal and can overcome the internal and payload uncertainties with the precision of 0.002 m. Therefore, the ILC can be considered as an approach for controlling the pneumatic actuators, which is challenging to obtain their mathematical modeling.https://www.mdpi.com/2076-0825/11/8/240pneumatic actuatorsiterative learning controlnon-repetitive ILCmodel-free control methodMATLABSimScape |
| spellingShingle | James Rwafa Farzad Ghayoor Implementation of Iterative Learning Control on a Pneumatic Actuator Actuators pneumatic actuators iterative learning control non-repetitive ILC model-free control method MATLAB SimScape |
| title | Implementation of Iterative Learning Control on a Pneumatic Actuator |
| title_full | Implementation of Iterative Learning Control on a Pneumatic Actuator |
| title_fullStr | Implementation of Iterative Learning Control on a Pneumatic Actuator |
| title_full_unstemmed | Implementation of Iterative Learning Control on a Pneumatic Actuator |
| title_short | Implementation of Iterative Learning Control on a Pneumatic Actuator |
| title_sort | implementation of iterative learning control on a pneumatic actuator |
| topic | pneumatic actuators iterative learning control non-repetitive ILC model-free control method MATLAB SimScape |
| url | https://www.mdpi.com/2076-0825/11/8/240 |
| work_keys_str_mv | AT jamesrwafa implementationofiterativelearningcontrolonapneumaticactuator AT farzadghayoor implementationofiterativelearningcontrolonapneumaticactuator |