Fault Tolerant Nonrepetitive Trajectory Tracking for MIMO Output Constrained Nonlinear Systems Using Iterative Learning Control

2019 ◽  
Vol 49 (8) ◽  
pp. 3180-3190 ◽  
Author(s):  
Xu Jin
Keyword(s):  
Nonlinear Systems ◽  
Trajectory Tracking ◽  
Iterative Learning Control ◽  
Fault Tolerant ◽  
Learning Control ◽  
Iterative Learning ◽  
Constrained Nonlinear Systems

Iterative Learning Control With Switching Gain Feedback for Nonlinear Systems

2010 ◽  
Vol 6 (1) ◽  
Author(s):  
P. R. Ouyang ◽  
B. A. Petz ◽  
F. F. Xi
Keyword(s):  
Feedback Control ◽  
Nonlinear Systems ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Iterative Learning Control ◽  
Tracking Error ◽  
Learning Control ◽  
Iterative Learning ◽  
Trajectory Tracking Control ◽  
Control Scheme

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.

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

Iterative learning control algorithm for sensor fault nonlinear systems

2020 ◽  
pp. 1-8
Author(s):  
Zimian Lan
Keyword(s):  
Nonlinear Systems ◽  
Iterative Learning Control ◽  
Control Algorithm ◽  
Tracking Error ◽  
Learning Control ◽  
Open Loop ◽  
Iterative Learning ◽  
Sensor Fault ◽  
Initial State ◽  
Control Gain

In this paper, we propose a new iterative learning control algorithm for sensor faults in nonlinear systems. The algorithm does not depend on the initial value of the system and is combined with the open-loop D-type iterative learning law. We design a period that shortens as the number of iterations increases. During this period, the controller corrects the state deviation, so that the system tracking error converges to the boundary unrelated to the initial state error, which is determined only by the system’s uncertainty and interference. Furthermore, based on the λ norm theory, the appropriate control gain is selected to suppress the tracking error caused by the sensor fault, and the uniform convergence of the control algorithm and the boundedness of the error are proved. The simulation results of the speed control of the injection molding machine system verify the effectiveness of the algorithm.

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