Guan, Shanglei ; Zhuang, Zhihe ; Tao, Hongfeng ; Stojanovic, Vladimir ; Paszke, Wojciech (1975- )
Title: Subject and Keywords:iterative learning control ; non-uniform trial lengths ; feedback-aided ; time-varyingsystem
Abstract:In this paper, a feedback-aided PD-type iterative learning control (ILC) design is proposed for the time-varying systems with non-uniform trial lengths to achieve asymptotic tracking of the desired trajectory. To alleviate the problem of missing information caused by non-uniform trial lengths, signals from most recently available iterations can be used for system learning by introducing an indicato function to construct recursively generated update error and input sequences. ; The main results are obtained by utilizing the combination of [lambda]-norm technique and inductive analysis approach, and the design is extended to nonlinear time-varying systems. At last, the effectiveness of the proposed feedback-aided ILC design for linear and nonlinear time-varying systems is demonstrated by a numerical simulation and a single-joint robot model.
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