Iterative learning control, a linear repetitive process approach basics, applications and future directions

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    Iterative learning control, a linear repetitive process approach - basics, applications and future directions

    który wygłosi prof. dr hab. inż. Krzysztof Gałkowski

    Institute of Control and Computation Engineering, University of Zielona Góra, Nicolaus Copernicus University in Toruń,
    School of Electronics and Computer Science, University of Southampton (Visiting Professor)

    w dniu 26 maja 2015, godz. 12:00 sala 140 NE

     

    Abstract: Iterative learning control (ILC) is a technique for controlling systems operating in a repetitive (or pass-to-pass) mode with the requirement that a reference trajectory defined over a finite interval is followed  to a high precision. Examples of such systems include robotic manipulators  that are required to repeat a given task, chemical batch processes or, more generally, the class of tracking systems. Since the original work of Arimoto in the mid 1980s, the general area of ILC has been the subject of intense research effort.  In ILC, a major objective is to achieve convergence of the trial-to-trial error and often this has been treated as the only one that needs to be considered, but then, it is possible that this could lead to unsatisfactory performance along the trial. These can be avoided when noting the clear repetitive (two-dimensional) structure of the ILC process. This lecture presents basic ideas of ILC together with recent results based on the repetitive process theory and discuss its applications and future directions. Particularly, applications to control of robotic systems, electrical motors and after stroke rehabilitation systems will be highlighted.

    Krzysztof Gałkowski is a well-known specialist in the area of multidimensional (nD) systems, especially of the realization problem for such systems. Recently, co-chairing the international (Poland, UK, Germany, Russia) research group, he has achieved numerous significant research results in analysis and control of repetitive processes, which are a very interesting and practically motivated sub-branch of nD systems. These results have been successfully extended to the spatio-temporal systems governed by partial differential equations. A very promising area in which he has recently achieved very interesting results of a great practical application potential is Iterative Learning Control (ILC), considered from the repetitive processes point of view. Many of them have been experimentally tested, mostly on the gantry robot of University of Southampton, UK. Hence, there is the need to test them for other practically relevant systems. He also is one of the first and leading inventors of ILC applied to processes governed by PDEs, with numerous applications e.g. to the heat transfer systems, microbridge actuators and others, the cooperation with the Rostock University, Germany. Professor Gałkowski is an inventor of the effective method called Elementary Operation Algorithm, still being generalized by other researchers, of the construction of a state-space realization for the multidimensional (n-variate) transfer function matrices. He has obtained many interesting results in stability analysis and controller design for repetitive processes with the use of the Lyapunov based approach and Linear Matrix Inequalities. These results refer to discrete processes, as well as to hybrid called differential repetitive processes, including H_infty approach. In particular he is a co-inventor of the so-called strong practical stability of repetitive processes, an intermediate notion, which can lead to many interesting applications. He is also a co-inventor of so-called plane repetitive processes where the repeated dynamics has a plane character, e.g. plate vibration control. He is a member of editorial board of Int. J. of Multidimensional Systems and Signal Processing and International Journal of Control and an associate editor for IET Control Theory and Applications. He is an author/editor of four monographs/books and 100 papers in the leading peer reviewed journals and over 180 in the proceedings of international conferences. He has given numerous invited plenary talks for International conferences. He has prepared numerous special issues for leading journals such as IJC, MDSSP and others. He has a strong international co-operation with the Universities of Southampton /at which he is awarded the official position of Visiting Professor at the School of Electronics and Computer Science; the universities of Wuppertal, Rostock and Erlangen-Nurnberg, Germany; University of Hong Kong; University of Poitiers, France; University of Thessaloniki, Greece, East China University of Science and Technology, Shanghai /where he was Chair Professor from 2011 to 2014/, Harbin Institute of Technology, Central South University, Changsha and many others. He served as a member of IPC for several international conferences. He has co-organized a series of International Workshops: NDS 1998 - Lagov, Poland; NDS 2000 - Czocha Castle – Poland; the third as a Symposium within MTNS 2002 in Notre Dame IN, US; NDS 2005 in Wuppertal, Germany; NDS 2007 in Aveiro, Portugal, and the last NDS 2009 in Thessaloniki, Greece; NDS 2011 in Poitiers, France, NDS 2013 in Erlangen, Germany. The next one (NDS 2015) will be co-organised in Villa Real, Portugal. His research is well recognized worldwide; according to Scholar Google, Prof. Galkowski's current number of citations /including auto/ is over 1900, index-H = 24 ( Scopus – 16, WOS - 15).