Model-free iterative learning control for LTI systems with actuator constraints

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• 作者：Pieter Janssens ^{Pieter.Janssens@mech.kuleuven.be" class="auth_mail" title="E-mail the corresponding author} ; Goele Pipeleers ; Jan Swevers
• 关键词：Iterative learning control (ilc) ; lti systems ; Precision motion control
• 刊名：IFAC-PapersOnLine
• 出版年：2011
• 出版时间：January 2011
• 年：2011
• 卷：44
• 期：1
• 页码：11556-11561
• 全文大小：365 K

文摘

This paper presents a model-free iterative learning control algorithm for linear time-invariant systems. At every trial, a finite impulse response filter to update the system input is calculated by solving a convex optimization problem that minimizes the next trial's tracking error taking into account actuator constraints. Simulation results show the ability of the proposed model-free method to deal with actuator constraints and to fully compensate for trial-invariant disturbances such as actuator cogging.