Fault-tolerant iterative learning control for mobile robots non-repetitive trajectory tracking with output constraints

Automatica ◽  
2018 ◽  
Vol 94 ◽  
pp. 63-71 ◽  
Author(s):  
Xu Jin
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Iterative Learning Control ◽  
Fault Tolerant ◽  
Learning Control ◽  
Iterative Learning ◽  
Output Constraints

Trajectory Tracking of a One-Link Flexible Arm via Iterative Learning Control

2020 ◽  
Author(s):  
Michele Pierallini ◽  
Franco Angelini ◽  
Riccardo Mengacci ◽  
Alessandro Palleschi ◽  
Antonio Bicchi ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Iterative Learning Control ◽  
Learning Control ◽  
Iterative Learning ◽  
Flexible Arm

A fault-tolerant iterative learning control for Takagi-Sugeno fuzzy systems*

2021 ◽  
Author(s):  
Marcin Pazera ◽  
Bartlomiej Sulikowski ◽  
Norbert Kukurowski ◽  
Marcin Witczak ◽  
Christophe Aubrun
Keyword(s):  
Iterative Learning Control ◽  
Fuzzy Systems ◽  
Fault Tolerant ◽  
Learning Control ◽  
Iterative Learning ◽  
Takagi Sugeno

scholarly journals Output Information Based Fault-Tolerant Iterative Learning Control for Dual-Rate Sampling Process with Disturbances and Output Delay

2018 ◽  
Vol 2018 ◽  
pp. 1-15 ◽  
Author(s):  
Hongfeng Tao ◽  
Yan Liu ◽  
Huizhong Yang
Keyword(s):  
Iterative Learning Control ◽  
Fault Tolerant ◽  
Sampling Rate ◽  
Sufficient Conditions ◽  
Learning Control ◽  
Iterative Learning ◽  
Repetitive Process ◽  
Sampling Process ◽  
Output Delay ◽  
Output Information

For a class of single-input single-output (SISO) dual-rate sampling processes with disturbances and output delay, this paper presents a robust fault-tolerant iterative learning control algorithm based on output information. Firstly, the dual-rate sampling process with output delay is transformed into discrete system in state-space model form with slow sampling rate without time delay by using lifting technology; then output information based fault-tolerant iterative learning control scheme is designed and the control process is turned into an equivalent two-dimensional (2D) repetitive process. Moreover, based on the repetitive process stability theory, the sufficient conditions for the stability of system and the design method of robust controller are given in terms of linear matrix inequalities (LMIs) technique. Finally, the flow control simulations of two flow tanks in series demonstrate the feasibility and effectiveness of the proposed method.

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