TY - JOUR
T1 - Iterative learning control of iteration-varying systems via robust update laws with experimental implementation
AU - Altın, B.
AU - Willems, J.
AU - Oomen, T.A.E.
AU - Barton, K.
PY - 2017/5/1
Y1 - 2017/5/1
N2 - Iterative learning control (ILC) is an efficient way of improving the tracking performance of repetitive systems. While ILC can offer significant improvement to the transient response of complex dynamical systems, the fundamental assumption of iteration invariance of the process limits potential applications. Utilizing abstract Banach spaces as our problem setting, we develop a general approach that is applicable to the various frameworks encountered in ILC. Our main result is that robust invariant update laws lead to stable behavior in ILC systems, where iteration-varying systems converge to bounded neighborhoods of their nominal counterparts when uncertainties are bounded. Furthermore, if the uncertainties are convergent along the iteration axis, convergence to the nominal case can be guaranteed.
AB - Iterative learning control (ILC) is an efficient way of improving the tracking performance of repetitive systems. While ILC can offer significant improvement to the transient response of complex dynamical systems, the fundamental assumption of iteration invariance of the process limits potential applications. Utilizing abstract Banach spaces as our problem setting, we develop a general approach that is applicable to the various frameworks encountered in ILC. Our main result is that robust invariant update laws lead to stable behavior in ILC systems, where iteration-varying systems converge to bounded neighborhoods of their nominal counterparts when uncertainties are bounded. Furthermore, if the uncertainties are convergent along the iteration axis, convergence to the nominal case can be guaranteed.
KW - Iterative methods
KW - Learning control
KW - Recursive control algorithms
KW - Robustness
KW - Uncertainty
UR - http://www.scopus.com/inward/record.url?scp=85015758484&partnerID=8YFLogxK
U2 - 10.1016/j.conengprac.2017.02.005
DO - 10.1016/j.conengprac.2017.02.005
M3 - Article
AN - SCOPUS:85015758484
VL - 62
SP - 36
EP - 45
JO - Control Engineering Practice
JF - Control Engineering Practice
SN - 0967-0661
ER -