This paper considers the problems of both noise tolerant iterative learning control (ILC) and iterative identification for a class of continuous-time systems with unknown bounded input disturbance and measurement noise. To this aim, we first propose a formulation of an extended ILC scheme using sampled input∕output (I∕O) data. The proposed ILC method has distinctive features as follows. Its learning law works in a prescribed finite-dimensional parameter space and employs I∕O data of all past trials efficiently. Also, the time derivative of tracking error is not required. Then, it is presented how the uncertain parameters can be identified by using the proposed ILC algorithm and how robust it is against measurement noise through a numerical example. Furthermore, its experimental evaluation is performed to demonstrate the effectiveness of the proposed identification scheme.
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e-mail: sugie@i.kyoto-u.ac.jp
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November 2007
Technical Papers
Noise Tolerant Iterative Learning Control and Identification for Continuous-Time Systems With Unknown Bounded Input Disturbances
Tae-Hyoung Kim,
Tae-Hyoung Kim
Department of Systems Science,
Kyoto University
, Uji, Kyoto 611-0011, Japan
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Xiaoguang Zheng,
Xiaoguang Zheng
Department of Systems Science,
Kyoto University
, Uji, Kyoto 611-0011, Japan
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Toshiharu Sugie
Toshiharu Sugie
Department of Systems Science,
e-mail: sugie@i.kyoto-u.ac.jp
Kyoto University
, Uji, Kyoto 611-0011, Japan
Search for other works by this author on:
Tae-Hyoung Kim
Department of Systems Science,
Kyoto University
, Uji, Kyoto 611-0011, Japan
Xiaoguang Zheng
Department of Systems Science,
Kyoto University
, Uji, Kyoto 611-0011, Japan
Toshiharu Sugie
Department of Systems Science,
Kyoto University
, Uji, Kyoto 611-0011, Japane-mail: sugie@i.kyoto-u.ac.jp
J. Dyn. Sys., Meas., Control. Nov 2007, 129(6): 825-836 (12 pages)
Published Online: March 16, 2007
Article history
Received:
April 12, 2006
Revised:
March 16, 2007
Citation
Kim, T., Zheng, X., and Sugie, T. (March 16, 2007). "Noise Tolerant Iterative Learning Control and Identification for Continuous-Time Systems With Unknown Bounded Input Disturbances." ASME. J. Dyn. Sys., Meas., Control. November 2007; 129(6): 825–836. https://doi.org/10.1115/1.2789474
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