Title :
On anticipatory iterative learning control designs for continuous time nonlinear dynamic systems
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Inst., Singapore
fDate :
6/21/1905 12:00:00 AM
Abstract :
Many schemes of iterative learning control (ILC) have been developed for continuous time nonlinear dynamic systems to improve tracking performance. Two schemes, D-type and P-type, have been the bases for many advanced ILC designs. Recently, a new anticipatory ILC scheme has been introduced. In this paper, these basic schemes are compared from both analysis and implementation view points. The anticipatory ILC scheme is discussed in details. This updating law is designed based on the pair of action taken and its resulting state variables. A sampled data ILC scheme is used as a typical form of this scheme. Experimental results show the effectiveness of this scheme
Keywords :
continuous time systems; learning (artificial intelligence); nonlinear dynamical systems; sampled data systems; anticipatory iterative learning control designs; continuous time nonlinear dynamic systems; sampled data ILC scheme; state variables; tracking performance; Acceleration; Control systems; Convergence; Design engineering; Differential algebraic equations; Error correction; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear equations; Robot sensing systems;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.830251
