TY - GEN
A1 - Zhuang, Zhihe
A1 - Tao, Hongfeng
A1 - Chen, Yiyang
A1 - Stojanovic, Vladimir
A1 - Paszke, Wojciech (1975- )
N2 - In practical applications of iterative learning control (ILC), the repetitive process may end up early by accident during the performance improvement along the trial axis, which yields the nonuniform trial length problem. For such practical systems, input signals are usually constrained because of some certain physical limitations.
N2 - This article proposes an optimal ILC algorithm for linear time-invariant multiple-input-multiple-output (MIMO) systems with nonuniform trial lengths under input constraints. The optimal ILC framework is specifically modified for the nonuniform trial length problem, where the prima-dual interior point method is introduced to deal with the input constraints.
N2 - Hence, the constraint handling capability are improved compared with the conventional counterparts for nonuniform trial lengths. Also, the monotonic convergence property of the proposed optimal ILC algorithm is obtained in the sense of mathematical expectation. Finally, the effectiveness of the proposed algorithm is verified on the numerical simulation of a mobile robot.
L1 - http://dlibra.bu.uz.zgora.pl/Content/76399/an_optimal_iterative_learning_control_approach_for_linear_systems_with_nonuniform_trial_lengths_under_input_constraints.pdf
L2 - http://dlibra.bu.uz.zgora.pl/Content/76399
KW - nonuniform trial length
KW - iterative learning control
KW - optimal control
T1 - An optimal iterative learning control approach for linear systems with nonuniform trial lengths under input constraints
UR - http://dlibra.bu.uz.zgora.pl/dlibra/docmetadata?id=76399
ER -