Monotonic convergence of iterative learning control systems with variable pass length

verfasst von

Thomas Seel, Thomas Schauer, Jörg Raisch

Abstract

A growing number of researchers consider iterative learning control (ILC) a promising tool for numerous control problems in biomedical application systems. We will briefly discuss why classical ILC theory is technically too restrictive for some of these applications. Subsequently, we will extend the classical ILC design in the lifted systems framework to the class of repetitive trajectory tracking tasks with variable pass length. We will analyse the closed-loop dynamics for two standard learning laws, and we will discuss in which sense the tracking error can be reduced by which controller design strategies. Necessary and sufficient conditions for monotonic convergence will be derived. We then summarise all results in a set of practical controller design guidelines. Finally, a simulation study is presented, which demonstrates the usefulness of these guidelines and illustrates the special dynamics that occur in variable pass length learning.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Artikel

Journal

International journal of control

Band

90

Seiten

409-422

Anzahl der Seiten

14

ISSN

0020-7179

Publikationsdatum

04.03.2017

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Steuerungs- und Systemtechnik, Angewandte Informatik

Elektronische Version(en)

https://doi.org/10.1080/00207179.2016.1183172 (Zugang: Unbekannt)