In this work, we present a new iterativelearningcontrol (ILC) scheme for a class of non-linear systems with uncertain and non-repetitive disturbances, in order to achieve perfect tracking by proposing a highorder f...
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In this work, we present a new iterativelearningcontrol (ILC) scheme for a class of non-linear systems with uncertain and non-repetitive disturbances, in order to achieve perfect tracking by proposing a highorder feedback-feedforward ILC algorithm with a variable forgetting factor. The highorder feedback-feedforward iterativelearningcontroller can fully apply the previous control data to the system, which allows the system to track expectations more rapidly and precisely. Introducing a variable forgetting factor can weaken the former control output and its variance in the control law, while strengthening the robustness of the ILC. Through rigorous analyses, we demonstrate that uniform convergence of the state tracking error is guaranteed under this new ILC scheme. Simulation examples are also included to demonstrate the feasibility and effectiveness of the proposed learningcontrols.
This paper presents the high-orderiterativelearningcontrol(HILC)in which we use the error from last repetition as well as the error in the current cycle to adjust the command in the next run.A stability theory is d...
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This paper presents the high-orderiterativelearningcontrol(HILC)in which we use the error from last repetition as well as the error in the current cycle to adjust the command in the next run.A stability theory is developed based on frequency response for high-orderiterativelearningcontrol(ILC)as a generalization of all lower order ***-stage is used as a test bed to investigate the efficacy of the high-order ILC over the first order ILC in both simulations and *** transfer function of X-axis and Y-axis are derived by system identification method for being a model in *** was successfully done on real *** results show that the final error levels of HILC are well below than the first order ILC in both X- axis and Y-axis.
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