Autor:

Guan, Shanglei ; Zhuang, Zhihe ; Tao, Hongfeng ; Stojanovic, Vladimir ; Paszke, Wojciech (1975- )

Tytuł:

Feedback-aided PD-type iterative learning control for time-varying systems with non-uniform trial lengths

Temat i słowa kluczowe:

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.

Opis:

artykuł zamieszczony w: "Transactions of the Institute of Measurement and Control", vol. 45, issue 11

Data wydania:

2023

Typ zasobu:

artykuł

Format:

application/pdf

DOI:

10.1177/01423312221142564

Strony:

2015-2026

Jezyk:

eng

Licencja CC BY 4.0:

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Biblioteka Uniwersytetu Zielonogórskiego