Adaptive Terminal ILC for Iteration-varying Target Points

Key Words:Adaptive tuning; terminal iterative learning control; linear time-varying systems; iteration-varying terminal reference point; discrete-time systems

Abstract:Terminal iterative learning control (TILC) has been developed to reduce the error between system output and a fixed desired point at the terminal end of operation interval over iterations. In this work, the desired terminal point is not fixed but allowed to change run-to-run among a set of fixed points and a new adaptive terminal iterative learning control scheme is developed to achieve learning objective over iterations. The control signal is updated from the measured terminal value at the end of a run, instead of the whole output trajectory. Although the reference terminal point is iteration-varying, the new adaptive TILC guarantees that the tracking error converges to zero iteratively. Both rigorous mathematical analysis and simulation results confirm the applicability and effectiveness of the proposed approach.

Volume:17

Issue:3

Translation or Not:no