A study on the optimal tracking problems with predefined data by using iterative learning control
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In this paper, we present an iterative learning control (ILC) framework for tracking problems with predefined data pointsthat are desired points at certain time instants. To design ILC systems for such problems, a new ILC scheme is proposed to produceoutput curves that pass close to the desired points. Unlike traditional ILC approaches, an algorithm will be developed in which thecontrol signals are generated by solving an optimal ILC problem with respect to the desired sampling points. In another word, it is adirect approach for the multiple points tracking ILC control problem where we do not need to divide the tracking problem into twosteps separately as trajectory planning and ILC controller.The strength of the proposed formulation is the methodology to obtain acontrol signal through learning law only considering the given data points and dynamic system, instead of following the direction oftracking a prior identified trajectory. The key advantage of the proposed approach is to significantly reduce the computational cost. Finally, simulation results will be introduced to confirm the effectiveness of proposed scheme.
Abstract
In this paper, we present an iterative learning control (ILC) framework for tracking problems with predefined data pointsthat are desired points at certain time instants. To design ILC systems for such problems, a new ILC scheme is proposed to produceoutput curves that pass close to the desired points. Unlike traditional ILC approaches, an algorithm will be developed in which thecontrol signals are generated by solving an optimal ILC problem with respect to the desired sampling points. In another word, it is adirect approach for the multiple points tracking ILC control problem where we do not need to divide the tracking problem into twosteps separately as trajectory planning and ILC controller.The strength of the proposed formulation is the methodology to obtain acontrol signal through learning law only considering the given data points and dynamic system, instead of following the direction oftracking a prior identified trajectory. The key advantage of the proposed approach is to significantly reduce the computational cost. Finally, simulation results will be introduced to confirm the effectiveness of proposed scheme.
참고문헌 (16)
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