Iterative Learning Control of a Discrete-Time System under Delay along the Sample Trajectory and Input Saturation

Мұқаба

Дәйексөз келтіру

Толық мәтін

Ашық рұқсат Ашық рұқсат
Рұқсат жабық Рұқсат берілді
Рұқсат жабық Рұқсат ақылы немесе тек жазылушылар үшін

Аннотация

This paper considers a linear discrete-time system operating in a repetitive mode to track a reference trajectory with a required accuracy. The control variable has a delay along the sample trajectory, and saturation-type constraints are imposed. We introduce a new method for designing an iterative learning control law that depends on the delay and ensures the required accuracy of tracking. A numerical example demonstrates the effectiveness of this method.

Авторлар туралы

P. Pakshin

Arzamas Polytechnic Institute of Alekseev Nizhny Novgorod State Technical University

Email: pakshinpv@gmail.com
Arzamas, Nizhny Novgorod oblast, Russia

Yu. Emel'yanova

Arzamas Polytechnic Institute of Alekseev Nizhny Novgorod State Technical University

Хат алмасуға жауапты Автор.
Email: emelianovajulia@gmail.com
Arzamas, Nizhny Novgorod oblast, Russia

Әдебиет тізімі

  1. Arimoto S., Kawamura S., Miyazaki F. Bettering Operation of Robots by Learning // J. Robot. Syst. 1984. V. 1. P. 123-140.
  2. Freeman C.T., Rogers E., Hughes A.-M., Burridge J.H., Meadmore K.L. Iterative learning control in health care: electrical stimulation and robotic-assisted upper-limb stroke rehabilitation // IEEE Control Syst. Magaz. 2012. V. 47. P. 70-80.
  3. Meadmore K.L., Exell T.A., Hallewell E., Hughes A.-M., Freeman C.T., Kutlu M., Benson V., Rogers E., Burridge J.H. The application of precisely controlled functional electrical stimulation to the shoulder, elbow and wrist for upper limb stroke rehabilitation: a feasibility study // J. of NeuroEngineer. and Rehabilitation. 2014. P. 11-105.
  4. Ketelhut M., Stemmler S., Gesenhues J., Hein M., Abel D. Iterative learning control of ventricular assist devices with variable cycle durations // Control Engineer. Practice. 2019. V. 83. P. 33-44.
  5. Sammons P.M., Gegel M.L., Bristow D.A., Landers R.G. Repetitive Process Control of Additive Manufacturing with Application to Laser Metal Deposition // IEEE Transact. Control Syst. Technol. 2019. V. 27. No. 2. P. 566-575.
  6. Lim I., Hoelzle D.J., Barton K.L. A multi-objective iterative learning control approach for additive manufacturing applications // Control Engineer. Practice. 2017. V. 64. P. 74-87.
  7. Sornmo O., Bernhardsson B., Kroling O., Gunnarsson P., Tenghamn R. Frequencydomain iterative learning control of a marine vibrator // Control Engineer. Practice. 2016. V. 47. P. 70-80.
  8. Hladowski L., Galkowski K., Cai Z., Rogers E., Freeman C., Lewin P. Experimentally Supported 2D Systems Based Iterative Learning Control Law Design for Error Convergence and Performance // Control Engineer. Practice. 2010. V. 18. P. 339-348.
  9. Bristow D.A., Tharayil M., Alleyne A.G. A Survey of Iterative Learning Control: A Learning-Based Method for High-Performance Tracking Control // IEEE Control Syst. Magaz. 2006. V. 26. No. 3. P. 96-114.
  10. Ahn H-S., Chen Y.Q., Moore K.L. Iterative Learning Control: Survey and Categorization // IEEE Trans. Syst. Man Cybern. Part C: Appl. Rev. 2007. V. 37. No. 6. P. 1099-1121.
  11. Xu J-X., Tan Y., Lee T-H. Iterative learning control design based on composite energy function with input saturation // Automatica. 2004. V. 40. P. 1371-1377.
  12. Mishra S., Topcu U., Tomizuka M. Iterative Learning Control with Saturation Constraints // Proc. 2009 American Control Conf. 2009. P. 943-948.
  13. Zhang R., Chi R. Iterative Learning Control for a Class of MIMO Nonlinear System with Input Saturation Constraint // Proc. 36th Chinese Control Conf. 2017. P. 3543-3547.
  14. Ljeˇsnjanin M., Tan Y., Oetomo D., Freeman C.T. Spatial Iterative Learning Control: Systems with Input Saturation // 2017 American Control Conf. 2017. P. 5121-5126.
  15. Wei Z-B., Quan Q., Cai K-Y. Output Feedback ILC for a Class of Nonminimum Phase Nonlinear Systems With Input Saturation: An Additive-State-Decomposition-Based Method // IEEE Trans. Autom. Control. 2017. V. 62. P. 502-508.
  16. Sebastian G., Tan Y., Oetomo D., Mareels I. Iterative Learning Control for Linear Time-varying Systems with Input and Output Constraints // 2018 Australian and New Zealand Control Conf. (ANZCC). 2018. P. 87-92.
  17. Sebastian G., Tan Y., Oetomo D. Convergence analysis of feedback-based iterative learning control with input saturation // Automatica. 2019. V. 101. P. 44-52.
  18. Chen Y., Gong Z., Wen C. Analysis of a High-Order Iterative Learning Control Algorithm for Uncertain Nonlinear Systems with State Delays // Automatica. 1998. V. 34. P. 345-353.
  19. Liu T., Gao F., Wang Y. IMC-based iterative learning control for batch processes with uncertain time delay // Journal of Process Control. 2010. V. 20. P. 173-180.
  20. Wang L., Mo S., Zhou D., Gao F., Chen X. Delay-range-dependent robust 2D iterative learning control for batch processes with state delay and uncertainties // Journal of Process Control. 2013. V. 23. P. 715-730.
  21. Tao H., Paszke W., Yang H., Ga lkowski K. Finite frequency range robust iterative learning control of linear discrete system with multiple time-delays // Journal of the Franklin Institute. 2019. V. 356. P. 2690-2708.
  22. Tao H., Paszke W., Rogers E., Yang H., Ga lkowski K. Finite frequency range iterative learning fault-tolerant control for discrete time-delay uncertain systems with actuator faults // ISA Transactions. 2019. V. 95. P. 152-163.
  23. Browne F., Rees B., Chiu G.T.-C., Jain N. Iterative Learning Control With Time-Delay Compensation: An Application to Twin-Roll Strip Casting // IEEE Trans. Control Systems Technology. 2021. V. 29. P. 140-149.
  24. Pakshin P., Emelianova J., Rogers E., Galkowski K. Iterative Learning Control with Input Saturation // IFAC PapersOnLine. 2019. V. 52. No. 29. P. 338-343.
  25. Rogers E., Galkowski K., Owens D.H. Control Systems Theory and Applications for Linear Repetitive Processes / Lect. Notes Control Inform. Sci. Berlin: Springer-Verlag, 2007. V. 349.
  26. Pakshin P., Emelianova J., Emelianov M., Galkowski K., Rogers E. Dissipivity and Stabilization of Nonlinear Repetitive Processes // Syst. & Control Lett. 2016. V. 91. P. 14-20.
  27. Emelianova J.P., Pakshin P.V. Iterative Learning Control Design Based on State Observer // Automation and Remote Control. 2019. V 80. P. 1561-1573.
  28. Tarbouriech S., Garcia G., Gomes da Silva Jr. J.M., Queinnec I. Stability and Stabilization of Linear Systems with Saturating Actuators.- London: Springer-Verlag. 2011.
  29. Yakubovich V.A., Leonov G.A., Gelig A.Kh. Stability of Stationary Sets in Control Systems with Discontinuous Nonlinearities. - London: World Scientific Press. 2004.
  30. Mandra S., Galkowski S., Aschemann H. Robust guaranteed cost ILC with dynamic feedforward and disturbance compensation for accurate PMSM position control // Control Engineering Practice. 2017. V. 65. P. 36-47.

Қосымша файлдар

Қосымша файлдар
Әрекет
1. JATS XML

© The Russian Academy of Sciences, 2023