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Data-Driven Reference Trajectory Tracking Algorithm and Experimental Validation

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5 Author(s)
Radac, M.-B. ; Dept. of Autom. & Appl. Inf., Politeh. Univ. of Timisoara, Timisoara, Romania ; Precup, R.-E. ; Petriu, E.M. ; Preitl, S.
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This paper proposes a data-driven algorithm that solves a reference trajectory tracking problem defined as an optimization problem. The new data-driven reference trajectory tracking algorithm (DDRTTA) solves the optimization problem in the framework of iterative learning control (ILC). The DDRTTA updates the reference input sequence using an experiment-based approach which accounts for operational constraints and employs an interior point barrier algorithm. Therefore the DDRTTA combines the advantages of data-driven control and ILC. A case study which deals with the angular position control of a nonlinear servo system is included to validate the DDRTTA by experimental and simulation results.

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Industrial Informatics, IEEE Transactions on  (Volume:9 ,  Issue: 4 )