Relaxing Fundamental Assumptions in Iterative Learning Control

Iterative learning control (ILC) is perhaps best decribed as an open loop feedforward control technique where the feedforward signal is learned through repetition of a single task. As the name suggests, given a dynamic system operating on a finite time horizon with the same desired trajectory, ILC aims to iteratively construct the inverse image (or its approximation) of the desired trajectory to improve transient tracking. In the literature, ILC is often interpreted as feedback control in the iteration domain due to the fact that learning controllers use information from past trials to drive the tracking error towards zero. However, despite the significant body of literature and powerful features, ILC is yet to reach widespread adoption by the control community, due to several assumptions that restrict its generality when compared to feedback control. In this dissertation, we relax some of these assumptions, mainly the fundamental invariance assumption, and move from the idea of learning through repetition to two dimensional systems, specifically repetitive processes, that appear in the modeling of engineering applications such as additive manufacturing, and sketch out future research directions for increased practicality: We develop an L1 adaptive feedback control based ILC architecture for increased robustness, fast convergence, and high performance under time varying uncertainties and disturbances. Simulation studies of the behavior of this combined L1-ILC scheme under iteration varying uncertainties lead us to the robust stability analysis of iteration varying systems, where we show that these systems are guaranteed to be stable when the ILC update laws are designed to be robust, which can be done using existing methods from the literature. As a next step to the signal space approach adopted in the analysis of iteration varying systems, we shift the focus of our work to repetitive processes, and show that the exponential stability of a nonlinear repetitive system is equivalent to that of its linearization, and consequently uniform stability of the corresponding state space matrix.PhDElectrical Engineering: SystemsUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/133232/1/altin_1.pd

A novel predefined time PD-type ILC paradigm for nonlinear systems

Intelligent robotics has drawn a great deal of attention due to its high precision, stability, and reliability, which are the basic key factors for industrial automation. This paper proposes an iterative learning control (ILC) technique with predefined-time convergence as a solution to an applied engineering problem, namely, that local time cannot be preset when a second-order nonlinear system undertakes control of the accurate tracking of local time under any initial iterative value. A time-varying sliding surface with an initial value of zero was designed, and it was theoretically proven that the trajectory tracking error in the sliding surface could converge to zero within a predefined time. The iterative control problem of trajectory tracking was thus changed to an iterative control problem of time-varying sliding-mode surface tracing with a starting value of zero. A PD-type closed-loop ILC with a time-varying sliding mode surface was designed such that the trajectory tracking error converged and stabilized on the sliding mode surface after a finite number of learning iterations. The control goal for the system's output was the ability to track the desired trajectory accurately within a predefined time interval, and it was achieved by combining this with the predefined time convergence characteristics of the time-varying sliding mode surface. Numerical simulation of trajectory tracking control of a repetitive motion manipulator was used to verify the effectiveness of the proposed controller and its robustness in the face of external disturbances.Web of Science111art. no. 5

Proceedings of the Seventh Italian Conference on Computational Linguistics CLiC-it 2020

On behalf of the Program Committee, a very warm welcome to the Seventh Italian Conference on Computational Linguistics (CLiC-it 2020). This edition of the conference is held in Bologna and organised by the University of Bologna. The CLiC-it conference series is an initiative of the Italian Association for Computational Linguistics (AILC) which, after six years of activity, has clearly established itself as the premier national forum for research and development in the fields of Computational Linguistics and Natural Language Processing, where leading researchers and practitioners from academia and industry meet to share their research results, experiences, and challenges

Proceedings of the Fifth Italian Conference on Computational Linguistics CLiC-it 2018 : 10-12 December 2018, Torino

On behalf of the Program Committee, a very warm welcome to the Fifth Italian Conference on Computational Linguistics (CLiC-­‐it 2018). This edition of the conference is held in Torino. The conference is locally organised by the University of Torino and hosted into its prestigious main lecture hall “Cavallerizza Reale”. The CLiC-­‐it conference series is an initiative of the Italian Association for Computational Linguistics (AILC) which, after five years of activity, has clearly established itself as the premier national forum for research and development in the fields of Computational Linguistics and Natural Language Processing, where leading researchers and practitioners from academia and industry meet to share their research results, experiences, and challenges

Proceedings of the Eighth Italian Conference on Computational Linguistics CliC-it 2021

The eighth edition of the Italian Conference on Computational Linguistics (CLiC-it 2021) was held at Università degli Studi di Milano-Bicocca from 26th to 28th January 2022. After the edition of 2020, which was held in fully virtual mode due to the health emergency related to Covid-19, CLiC-it 2021 represented the first moment for the Italian research community of Computational Linguistics to meet in person after more than one year of full/partial lockdown

EVALITA Evaluation of NLP and Speech Tools for Italian - December 17th, 2020

Welcome to EVALITA 2020! EVALITA is the evaluation campaign of Natural Language Processing and Speech Tools for Italian. EVALITA is an initiative of the Italian Association for Computational Linguistics (AILC, http://www.ai-lc.it) and it is endorsed by the Italian Association for Artificial Intelligence (AIxIA, http://www.aixia.it) and the Italian Association for Speech Sciences (AISV, http://www.aisv.it)

Proceedings of the Near-Earth-Object Interception Workshop

The National Aeronautics and Space Administration Headquarters sponsored the Near-Earth-Object Interception Workshop hosted by the Los Alamos National Laboratory on 14-16 Jan. 1992 at the J. Robert Oppenheimer Study Center in Los Alamos, New Mexico. The Workshop evaluated the issues involved in intercepting celestial objects that could hit the Earth. It covered the technologies for acquiring, tracking, and homing, as well as those for sending interceptors to inspect, rendezvous with, land on, irradiate, deflect, or destroy them. This report records the presentations and technical options reviewed

Proceedings of the Fifth Italian Conference on Computational Linguistics CLiC-it 2018

On behalf of the Program Committee, a very warm welcome to the Fifth Italian Conference on Computational Linguistics (CLiC-­‐it 2018). This edition of the conference is held in Torino. The conference is locally organised by the University of Torino and hosted into its prestigious main lecture hall “Cavallerizza Reale”. The CLiC-­‐it conference series is an initiative of the Italian Association for Computational Linguistics (AILC) which, after five years of activity, has clearly established itself as the premier national forum for research and development in the fields of Computational Linguistics and Natural Language Processing, where leading researchers and practitioners from academia and industry meet to share their research results, experiences, and challenges