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Title: An optimal iterative learning control approach for linear systems with nonuniform trial lengths under input constraints
Creator:
Zhuang, Zhihe ; Tao, Hongfeng ; Chen, Yiyang ; Stojanovic, Vladimir ; Paszke, Wojciech (1975- )
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Abstract:
In practical applications of iterative learning control (ILC), the repetitive process may end up early by accident during the performance improvement along the trial axis, which yields the nonuniform trial length problem. For such practical systems, input signals are usually constrained because of some certain physical limitations. ; This article proposes an optimal ILC algorithm for linear time-invariant multiple-input-multiple-output (MIMO) systems with nonuniform trial lengths under input constraints. The optimal ILC framework is specifically modified for the nonuniform trial length problem, where the prima-dual interior point method is introduced to deal with the input constraints. ; Hence, the constraint handling capability are improved compared with the conventional counterparts for nonuniform trial lengths. Also, the monotonic convergence property of the proposed optimal ILC algorithm is obtained in the sense of mathematical expectation. Finally, the effectiveness of the proposed algorithm is verified on the numerical simulation of a mobile robot.
Description:
artykuł zamieszczony w: "IEEE Transactions on Systems, Man, and Cybernetics: Systems"
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License CC BY 4.0:
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Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Digital Library of Zielona Góra > Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Digital Library of Zielona Góra > Repository > Types of work > Articles
Last modified:
Oct 25, 2023
In our library since:
Oct 19, 2023
Number of object content hits:
258
All available object's versions:
https://zbc.uz.zgora.pl/publication/84031
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| Edition name | Date |
|---|---|
| An optimal iterative learning control approach for linear systems with nonuniform trial lengths under input constraints | Oct 25, 2023 |
