Journal ArticleDOI
Iterative learning control for discrete-time systems with exponential rate of convergence
N. Amann,David H. Owens,Eric Rogers +2 more
- Vol. 143, Iss: 2, pp 217-224
Reads0
Chats0
TLDR
An algorithm for iterative learning control is proposed based on an optimisation principle used by other authors to derive gradient-type algorithms and has potential benefits which include realisation in terms of Riccati feedback and feedforward components.Abstract:
An algorithm for iterative learning control is proposed based on an optimisation principle used by other authors to derive gradient-type algorithms. The new algorithm is a descent algorithm and has potential benefits which include realisation in terms of Riccati feedback and feedforward components. This realisation also has the advantage of implicitly ensuring automatic step-size selection and hence guaranteeing convergence without the need for empirical choice of parameters. The algorithm achieves a geometric rate of convergence for invertible plants. One important feature of the proposed algorithm is the dependence of the speed of convergence on weight parameters appearing in the norms of the signals chosen for the optimisation problem.read more
Citations
More filters
Journal ArticleDOI
On Robustness in Optimization-Based Constrained Iterative Learning Control
TL;DR: In this paper , a robust iterative learning control (ILC) controller for constrained linear processes based on the forward-backward splitting algorithm is proposed. But the authors do not provide a rigorous stability analysis in the iteration domain.
Proceedings ArticleDOI
Iterative learning control for a class of singular impulsive system
Qian Liu,Senping Tian +1 more
TL;DR: A P-type iterative learning control law with initial state to track the desired output trajectory of the singular impulsive system is proposed and the convergence conditions of the open-loop iterativelearning schemes are presented.
Proceedings ArticleDOI
An adaptive approach to iterative learning control with experiments on an industrial robot
TL;DR: An adaptive approach to Iterative Learning Control (ILC) based on a Kalman filter and an optimization of a quadratic criterion is presented and the results show that the proposed adaptive ILC scheme is fast, and also robust since the gain is reduced as the error is decreased.
Journal ArticleDOI
A Comparison of Optimal Iterative Learning Control Schemes
TL;DR: This paper compares the performance of a range of controllers arising from use of the norm optimal approach - both stand alone and against alternatives.
Journal ArticleDOI
Entwurf zeitvarianter Filter für iterativ lernende Regelungen auf Basis der Wavelet-Transformation (Design of Time variant Filters for Iterative Learning Controllers based on Wavelet Transforms)
TL;DR: In dieser Arbeit wird ein Verfahren zum Entwurf zeitvarianter Filter auf Basis der Waveletzerlegung beschrieben, der Regelfehler zur Berechnung der Stelltrajektorie wird dabei direkt von den Messstörungen beeinflusst.
References
More filters
Numerical recipes in C
TL;DR: The Diskette v 2.06, 3.5''[1.44M] for IBM PC, PS/2 and compatibles [DOS] Reference Record created on 2004-09-07, modified on 2016-08-08.
Book
Optimization by Vector Space Methods
TL;DR: This book shows engineers how to use optimization theory to solve complex problems with a minimum of mathematics and unifies the large field of optimization with a few geometric principles.
Book
Optimal Control
TL;DR: Reading optimal control frank l lewis solution manual ebook pdf 2019 is extremely useful because you could get enough detailed information in the book technology has.