Iterative learning control (ILC) is a simple and effective technique of tracking control aiming at improving system tracking performance from trial to trial in a repetitive mode. In this paper, we propose a new ILC called switching gain PD-PD (SPD-PD)-type ILC for trajectory tracking control of time-varying nonlinear systems with uncertainty and disturbance. In the developed control scheme, a PD feedback control with switching gains in the iteration domain and a PD-type ILC based on the previous iteration combine together into one updating law. The proposed SPD-PD ILC takes the advantages of feedback control and classical ILC and can also be viewed as online-offline ILC. It is theoretically proven that the boundednesses of the state error and the final tracking error are guaranteed in the presence of uncertainty, disturbance, and initialization error of the nonlinear systems. The convergence rate is adjustable by the adoption of the switching gains in the iteration domain. Simulation experiments are conducted for trajectory tracking control of a nonlinear system and a robotic system. The results show that fast convergence and small tracking error bounds can be observed by using the SPD-PD-type ILC.
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January 2011
Research Papers
Iterative Learning Control With Switching Gain Feedback for Nonlinear Systems Available to Purchase
P. R. Ouyang,
P. R. Ouyang
Assistant Professor
Mem. ASME
Department of Aerospace Engineering,
e-mail: [email protected]
Ryerson University
, 350 Victoria Street, Toronto, ON, M5B 2K3, Canada
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B. A. Petz,
B. A. Petz
Graduate Student
Department of Aerospace Engineering,
e-mail: [email protected]
Ryerson University
, 350 Victoria Street, Toronto, ON, M5B 2K3, Canada
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F. F. Xi
F. F. Xi
Professor
Mem. ASME
Department of Aerospace Engineering,
e-mail: [email protected]
Ryerson University
, 350 Victoria Street, Toronto, ON, M5B 2K3, Canada
Search for other works by this author on:
P. R. Ouyang
Assistant Professor
Mem. ASME
Department of Aerospace Engineering,
Ryerson University
, 350 Victoria Street, Toronto, ON, M5B 2K3, Canadae-mail: [email protected]
B. A. Petz
Graduate Student
Department of Aerospace Engineering,
Ryerson University
, 350 Victoria Street, Toronto, ON, M5B 2K3, Canadae-mail: [email protected]
F. F. Xi
Professor
Mem. ASME
Department of Aerospace Engineering,
Ryerson University
, 350 Victoria Street, Toronto, ON, M5B 2K3, Canadae-mail: [email protected]
J. Comput. Nonlinear Dynam. Jan 2011, 6(1): 011020 (7 pages)
Published Online: October 13, 2010
Article history
Received:
September 12, 2009
Revised:
July 1, 2010
Online:
October 13, 2010
Published:
October 13, 2010
Citation
Ouyang, P. R., Petz, B. A., and Xi, F. F. (October 13, 2010). "Iterative Learning Control With Switching Gain Feedback for Nonlinear Systems." ASME. J. Comput. Nonlinear Dynam. January 2011; 6(1): 011020. https://doi.org/10.1115/1.4002384
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