In this paper, a new learning control, called PD-PD type learning control, is proposed for trajectory tracking of nonlinear systems with uncertainty and disturbance. In the developed control scheme, a PD feedback control with the current tracking errors and a PD type iterative learning control using the previous tracking errors are combined in the updating law. Explicit expressions have been developed for choosing the feedback control gains and the iterative learning gains, and an initial updating scheme is proposed to reduce and eliminate initial errors from iteration to iteration. It is proven that the final tracking error is guaranteed to converge toward the desired trajectory in the presence of varying uncertainty, disturbance, and initial errors. Comparing with the traditional iterative learning control, the new algorithm has potential benefits that include: fast convergence rate, more flexible choices of the learning gains, and monotonic convergence of the tracking error. The effectiveness of the proposed learning control method is demonstrated by simulation experiments. Due to the straightforward implementation and very good trajectory performance of the proposed control algorithm, it should be highly applicable to industrial systems.
Skip Nav Destination
ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 30–September 2, 2009
San Diego, California, USA
Conference Sponsors:
- Design Engineering Division and Computers in Engineering Division
ISBN:
978-0-7918-4901-9
PROCEEDINGS PAPER
PD-PD Type Learning Control for Uncertain Nonlinear Systems
P. R. Ouyang
P. R. Ouyang
Ryerson University, Toronto, ON, Canada
Search for other works by this author on:
P. R. Ouyang
Ryerson University, Toronto, ON, Canada
Paper No:
DETC2009-86697, pp. 699-707; 9 pages
Published Online:
July 29, 2010
Citation
Ouyang, PR. "PD-PD Type Learning Control for Uncertain Nonlinear Systems." Proceedings of the ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 4: 7th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B and C. San Diego, California, USA. August 30–September 2, 2009. pp. 699-707. ASME. https://doi.org/10.1115/DETC2009-86697
Download citation file:
5
Views
Related Articles
Iterative Learning Control With Switching Gain Feedback for Nonlinear Systems
J. Comput. Nonlinear Dynam (January,2011)
Data-Weighting Based Discrete-Time Adaptive Iterative Learning Control for Nonsector Nonlinear Systems With Iteration-Varying Trajectory and Random Initial Condition
J. Dyn. Sys., Meas., Control (March,2012)
Iterative Learning Control for Nonlinear Nonminimum Phase Plants
J. Dyn. Sys., Meas., Control (March,2001)
Related Chapters
Optimization of on Demand Service Provisioning with Multicast Cost Sharing
International Conference on Mechanical and Electrical Technology, 3rd, (ICMET-China 2011), Volumes 1–3
EFDA: DDoS Attack Detection Algorithm of Ad-Hoc Network Based on Evidence Fusion
International Conference on Mechanical and Electrical Technology, 3rd, (ICMET-China 2011), Volumes 1–3
Research of Improved BP Neural Network in Intrusion Detection
Proceedings of the International Conference on Internet Technology and Security