Linear Parameter Varying Iterative Learning Control

Author

Butcher, Mark ; Karimi, Alireza

Author_Institution

Autom. Control Lab., Ecole Polytech. Fed. de Lausanne (EPFL), Lausanne, Switzerland

fYear

2009

fDate

15-18 Dec. 2009

Firstpage

5691

Lastpage

5695

Abstract

In this paper an Iterative Learning Control (ILC) algorithm is proposed for a certain class of Linear Parameter Varying (LPV) systems whose dynamics change between iterations. Consistency of the algorithm in the presence of stochastic disturbances is shown. The proposed algorithm is tested in simulation and the obtained tracking performance is compared with that obtained using a standard Linear Time Invariant ILC algorithm. Better results are obtained using the proposed method.

Keywords

iterative methods; learning systems; linear systems; iterative learning control algorithm; linear parameter varying systems; standard linear time invariant ILC algorithm; stochastic disturbances; Automatic control; Control systems; Dynamic scheduling; Iterative algorithms; Iterative methods; Noise measurement; Robot sensing systems; Stochastic processes; Stochastic resonance; Testing; Learning control systems; iterative learning control; linear parameter-varying system;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Conference_Location

Shanghai

ISSN

0191-2216

Print_ISBN

978-1-4244-3871-6

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2009.5400885

Filename

5400885