A high-order internal model based iterative learning control scheme for nonlinear systems with time-iteration-varying parameters

2.50
Hdl Handle:
http://hdl.handle.net/10547/279163
Title:
A high-order internal model based iterative learning control scheme for nonlinear systems with time-iteration-varying parameters
Authors:
Yin, Chenkun; Xu, Jian-Xin; Hou, Zhongsheng
Abstract:
In this technical note, we propose a new iterative learning control (ILC) scheme for nonlinear systems with parametric uncertainties that are temporally and iteratively varying. The time-varying characteristics of the parameters are described by a set of unknown basis functions that can be any continuous functions. The iteratively varying characteristics of the parameters are described by a high-order internal model (HOIM) that is essentially an auto-regression model in the iteration domain. The new parametric learning law with HOIM is designed to effectively handle the unknown basis functions. The method of composite energy function is used to derive convergence properties of the HOIM-based ILC, namely the pointwise convergence along the time axis and asymptotic convergence along the iteration axis. Comparing with existing ILC schemes, the HOIM-based ILC can deal with nonlinear systems with more generic parametric uncertainties that may not be repeatable along the iteration axis. The validity of the HOIM-based ILC under identical initialization condition (i.i.c.) and the alignment condition is also explored.
Citation:
Yin, C.; Xu, J. and Hou, Z. (2010) 'A High-Order Internal Model Based Iterative Learning Control Scheme for Nonlinear Systems With Time-Iteration-Varying Parameters', 55 (11):2665-2670 IEEE Transactions on Automatic Control
Publisher:
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Journal:
IEEE Transactions on Automatic Control
Issue Date:
2010
URI:
http://hdl.handle.net/10547/279163
DOI:
10.1109/TAC.2010.2069372
Additional Links:
http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5555945
Type:
Article
Language:
en
ISSN:
0018-9286; 1558-2523
Appears in Collections:
Centre for Research in Distributed Technologies (CREDIT)

Full metadata record

DC FieldValue Language
dc.contributor.authorYin, Chenkunen_GB
dc.contributor.authorXu, Jian-Xinen_GB
dc.contributor.authorHou, Zhongshengen_GB
dc.date.accessioned2013-04-07T16:54:28Z-
dc.date.available2013-04-07T16:54:28Z-
dc.date.issued2010-
dc.identifier.citationYin, C.; Xu, J. and Hou, Z. (2010) 'A High-Order Internal Model Based Iterative Learning Control Scheme for Nonlinear Systems With Time-Iteration-Varying Parameters', 55 (11):2665-2670 IEEE Transactions on Automatic Controlen_GB
dc.identifier.issn0018-9286-
dc.identifier.issn1558-2523-
dc.identifier.doi10.1109/TAC.2010.2069372-
dc.identifier.urihttp://hdl.handle.net/10547/279163-
dc.description.abstractIn this technical note, we propose a new iterative learning control (ILC) scheme for nonlinear systems with parametric uncertainties that are temporally and iteratively varying. The time-varying characteristics of the parameters are described by a set of unknown basis functions that can be any continuous functions. The iteratively varying characteristics of the parameters are described by a high-order internal model (HOIM) that is essentially an auto-regression model in the iteration domain. The new parametric learning law with HOIM is designed to effectively handle the unknown basis functions. The method of composite energy function is used to derive convergence properties of the HOIM-based ILC, namely the pointwise convergence along the time axis and asymptotic convergence along the iteration axis. Comparing with existing ILC schemes, the HOIM-based ILC can deal with nonlinear systems with more generic parametric uncertainties that may not be repeatable along the iteration axis. The validity of the HOIM-based ILC under identical initialization condition (i.i.c.) and the alignment condition is also explored.en_GB
dc.language.isoenen
dc.publisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INCen_GB
dc.relation.urlhttp://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5555945en_GB
dc.rightsArchived with thanks to IEEE Transactions on Automatic Controlen_GB
dc.subjecthigh-order internal modelen_GB
dc.subjectiterative learning controlen_GB
dc.subjecthonlinear systemsen_GB
dc.subjectILCen_GB
dc.titleA high-order internal model based iterative learning control scheme for nonlinear systems with time-iteration-varying parametersen
dc.typeArticleen
dc.identifier.journalIEEE Transactions on Automatic Controlen_GB
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