Robust iterative learning control for uncertain continuous‐time system with input delay and random iteration‐varying uncertainties
Abstract This study deals with the problem of robust iterative learning control (ILC) for linear continuous‐time systems with input delay subject to uncertainties in input delay, plant dynamic, reference trajectory, initial conditions and disturbances. Using the internal model control (IMC) structur...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-09-01
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| Series: | IET Control Theory & Applications |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/cth2.12156 |
| _version_ | 1798035557643714560 |
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| author | Hamid Shokri‐Ghaleh Soheil Ganjefar Alireza Mohammad Shahri |
| author_facet | Hamid Shokri‐Ghaleh Soheil Ganjefar Alireza Mohammad Shahri |
| author_sort | Hamid Shokri‐Ghaleh |
| collection | DOAJ |
| description | Abstract This study deals with the problem of robust iterative learning control (ILC) for linear continuous‐time systems with input delay subject to uncertainties in input delay, plant dynamic, reference trajectory, initial conditions and disturbances. Using the internal model control (IMC) structure in the frequency domain, an ILC scheme is proposed in which the IMC structure is responsible for coping with uncertainties in both delay time and plant dynamic. Sufficient conditions are derived to ensure that the tracking error expectation is bounded and converges monotonically to a small neighbourhood of zero (in the L2‐norm sense) when uncertainties in reference trajectory, initial conditions and disturbances vary randomly from trial to trial. It is shown that the derived conditions are still valid to guarantee both boundedness and monotonic convergence of the tracking error variance (in the L2‐norm sense). Illustrative examples are provided to demonstrate the effectiveness of the proposed method. |
| first_indexed | 2024-04-11T20:59:51Z |
| format | Article |
| id | doaj.art-1ad6cbd011a746b6a5aca04e49526049 |
| institution | Directory Open Access Journal |
| issn | 1751-8644 1751-8652 |
| language | English |
| last_indexed | 2024-04-11T20:59:51Z |
| publishDate | 2021-09-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Control Theory & Applications |
| spelling | doaj.art-1ad6cbd011a746b6a5aca04e495260492022-12-22T04:03:32ZengWileyIET Control Theory & Applications1751-86441751-86522021-09-0115131749176110.1049/cth2.12156Robust iterative learning control for uncertain continuous‐time system with input delay and random iteration‐varying uncertaintiesHamid Shokri‐Ghaleh0Soheil Ganjefar1Alireza Mohammad Shahri2School of Electrical Engineering Iran University of Science and Technology Tehran 1684613114 IranSchool of Electrical Engineering Iran University of Science and Technology Tehran 1684613114 IranSchool of Electrical Engineering Iran University of Science and Technology Tehran 1684613114 IranAbstract This study deals with the problem of robust iterative learning control (ILC) for linear continuous‐time systems with input delay subject to uncertainties in input delay, plant dynamic, reference trajectory, initial conditions and disturbances. Using the internal model control (IMC) structure in the frequency domain, an ILC scheme is proposed in which the IMC structure is responsible for coping with uncertainties in both delay time and plant dynamic. Sufficient conditions are derived to ensure that the tracking error expectation is bounded and converges monotonically to a small neighbourhood of zero (in the L2‐norm sense) when uncertainties in reference trajectory, initial conditions and disturbances vary randomly from trial to trial. It is shown that the derived conditions are still valid to guarantee both boundedness and monotonic convergence of the tracking error variance (in the L2‐norm sense). Illustrative examples are provided to demonstrate the effectiveness of the proposed method.https://doi.org/10.1049/cth2.12156Control system analysis and synthesis methodsStability in control theoryDiscrete control systemsSelf‐adjusting control systemsNonlinear control systemsInterpolation and function approximation (numerical analysis) |
| spellingShingle | Hamid Shokri‐Ghaleh Soheil Ganjefar Alireza Mohammad Shahri Robust iterative learning control for uncertain continuous‐time system with input delay and random iteration‐varying uncertainties IET Control Theory & Applications Control system analysis and synthesis methods Stability in control theory Discrete control systems Self‐adjusting control systems Nonlinear control systems Interpolation and function approximation (numerical analysis) |
| title | Robust iterative learning control for uncertain continuous‐time system with input delay and random iteration‐varying uncertainties |
| title_full | Robust iterative learning control for uncertain continuous‐time system with input delay and random iteration‐varying uncertainties |
| title_fullStr | Robust iterative learning control for uncertain continuous‐time system with input delay and random iteration‐varying uncertainties |
| title_full_unstemmed | Robust iterative learning control for uncertain continuous‐time system with input delay and random iteration‐varying uncertainties |
| title_short | Robust iterative learning control for uncertain continuous‐time system with input delay and random iteration‐varying uncertainties |
| title_sort | robust iterative learning control for uncertain continuous time system with input delay and random iteration varying uncertainties |
| topic | Control system analysis and synthesis methods Stability in control theory Discrete control systems Self‐adjusting control systems Nonlinear control systems Interpolation and function approximation (numerical analysis) |
| url | https://doi.org/10.1049/cth2.12156 |
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