自动化与电子工程学院研究生论坛：Trajectory Tracking of Piezoelectric Actuator using Iterative Learning Control with Zero-Phase Filtering

时 间：2014年10月16日（周四）10：00

地 点：自动化学院楼429实验室

主讲人：简江儒（Chiang-Ju Chien）教授

主 题：Trajectory Tracking of Piezoelectric Actuator using Iterative Learning Control with Zero-Phase Filtering

内容摘要：For trajectory tracking of a piezoelectric actuator system, an enhanced iterative learning control (ILC) scheme based on zero phase filtering is presented in this talk. The enhanced ILC scheme incorporates a state compensation in the ILC formula. The state compensation term is based on the difference of tracking error between the current and previous iterations at the present time. With the aid of this state compensation, iterative learning control can therefore take effect more precisely as desired, in comparison to the conventional D-type ILC and a proportional control aided D-type ILC.. Further, the addition of the current error in the compensation term can also serve the role of feedback control to stabilize the system. The zero phase filter is adopted to filter learnable tracking errors without phase shift. Based on both a time-frequency analysis of tracking errors and a convergence bandwidth analysis of ILC, a suitable zero phase filter is chosen for ILC design in this study. The enhanced ILC scheme using zero phase filtering is applied to track a desired trajectory. Experimental results validate the efficacy of the enhanced ILC in terms of the speed of convergence and the level of long term tracking errors.

主讲人简介：

简江儒，台湾华梵大学工程暨管理學院院長，教授，博士生导师，1992年获得国立台湾大学电机工程系博士学位。曾任台湾国科会控制学术规划委员、台湾国科会控制学术专题研究计划复审委员以及多个国际学术会议的AE。曾多次荣获华梵大学学术研究优秀教师和杰出教师，荣获华梵大学辅导与服务杰出一类教师，曾3次荣获台湾国科会甲种研究奖励，近年来，主持台湾国科会和科技部研究计划项目20余项，是迭代学习控制国际著名学者之一，在Automatica，IEEE Transactions on Automatic Control、IEEE Transactions on Systems, Man and Cybernetics - Part B、IEEE Transactions on Fuzzy Systems、IEEE Transactions on Circuits and Systems等国际著名期刊上和国际学术会议上发表论文近百篇。研究兴趣包括迭代学习控制、模糊与神经网络控制、数字电路设计等。

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