Title :
A data-driven optimal design of point-to-point ILC
Author :
Chi Ronghu ; Hou Zhongsheng ; Jin Shangtai ; Wang Danwei
Author_Institution :
Sch. of Autom. & Electron. Eng., Qingdao Univ. of Sci. & Technol., Qingdao, China
Abstract :
This paper presents a new data-driven optimal design framework of point-to-point iterative learning control (PTP-ILC), where the control signal is directly updated from the errors of given multiple intermediate pass points. A major contribution is that the presented optimal PTP-ILC mechanism only uses the real-time measured I/O data without any model information of the plant for the controller design, convergence analysis, and conduction, from which the distinctive `data-driven´ feature of the presented approaches is obvious and intuitional. Rigorous mathematical analysis is developed to illustrate the efficiency of the proposed approach.
Keywords :
control system synthesis; iterative methods; learning systems; mathematical analysis; optimal control; control signal; convergence analysis; data-driven optimal design framework; distinctive data-driven feature; multiple intermediate pass points; optimal PTP-ILC mechanism; point-to-point ILC; point-to-point iterative learning control; real-time measured I/O data; rigorous mathematical analysis; Convergence; Educational institutions; Estimation; Extraterrestrial measurements; Robots; Trajectory; Data-driven control; Nonlinear discrete-time systems; Point-to-point tracking tasks; optimal ILC;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an