AN ASSOCIATIVE MEMORY BASED LEARNING CONTROL SCHEME WITH PI-CONTROLLER FOR SISO-NONLINEAR PROCESSES

1987 ◽  
pp. 99-105 ◽  
Author(s):  
E. Ersü ◽  
S. Wienand
Keyword(s):  
Associative Memory ◽  
Learning Control ◽  
Pi Controller ◽  
Nonlinear Processes ◽  
Control Scheme

scholarly journals Open-closed Iterative Learning Control Algorithm for Exoskeleton Rehabilitation Purposes

2019 ◽  
Vol 292 ◽  
pp. 01010
Author(s):  
Mihailo Lazarević ◽  
Nikola Živković ◽  
Darko Radojević
Keyword(s):  
Iterative Learning Control ◽  
Control Algorithm ◽  
Closed Loop ◽  
Learning Control ◽  
Open Loop ◽  
Iterative Learning ◽  
Control Law ◽  
Exact Linearization ◽  
Outer Loop ◽  
Control Scheme

The paper designs an appropriate iterative learning control (ILC) algorithm based on the trajectory characteristics of upper exosk el eton robotic system. The procedure of mathematical modelling of an exoskeleton system for rehabilitation is given and synthesis of a control law with two loops. First (inner) loop represents exact linearization of a given system, and the second (outer) loop is synthesis of a iterative learning control law which consists of two loops, open and closed loop. In open loop ILC sgnPDD2 is applied, while in feedback classical PD control law is used. Finally, a simulation example is presented to illustrate the feasibility and effectiveness of the proposed advanced open-closed iterative learning control scheme.

Reference adjustment for a high-acceleration and high-precision platform via A-type of iterative learning control

2007 ◽  
Vol 221 (5) ◽  
pp. 781-789 ◽  
Author(s):  
J. H. Wu ◽  
H Ding
Keyword(s):  
High Precision ◽  
Iterative Learning Control ◽  
Control Structure ◽  
Learning Control ◽  
Iterative Learning ◽  
High Acceleration ◽  
Control Scheme ◽  
Point Motion ◽  
Point To Point ◽  
P Type

This paper studies the repetitive motion control of a high-acceleration and high-precision platform driven by linear motors. The control scheme comprises an anticipatory iterative learning control (A-ILC) component and a cascaded control structure including an inner-loop velocity PI controller and an outer-loop position P controller. During the motion process, the cascaded controller remains invariant while the A-ILC adjusts the reference command cycle by cycle to achieve better performance. Experiments are carried out to validate the proposed control structure. The results confirm that the proposed control scheme can improve the system performance significantly in both low-speed trajectory tracking motions and fast point-to-point motion. In the experiments, P-type and D-type ILCs are also utilized to adjust the reference command. Compared with the A type, P-type ILC leads to larger tracking error bounds and D-type ILC lacks a fast convergence rate for low-speed motions, while for fast point-to-point motion these two types of ILC are unable to work well.

Sign in / Sign up

Export Citation Format

Share Document