Open Access Open Access  Restricted Access Subscription or Fee Access

2-D Based Robust Iterative Learning Control Approach for Uncertain Linear Systems

Kouki Olfa(1*), Mnasri Chaouki(2), Gasmi Moncef(3)

(1) Carthage University, Computer Laboratory of Industrial Systems, LISI, National Institute of Applied Sciences and Technology, INSAT, Tunisia
(2) Carthage University, Computer Laboratory of Industrial Systems, LISI, National Institute of Applied Sciences and Technology, INSAT, Tunisia
(3) Carthage University, Computer Laboratory of Industrial Systems, LISI, National Institute of Applied Sciences and Technology, INSAT, Tunisia
(*) Corresponding author


DOI: https://doi.org/10.15866/ireaco.v7i6.4307

Abstract


In this paper, a robust iterative learning control (ILC) is designed for a class of uncertain linear systems. The proposed approach guaranties the robust monotonic convergence (RMC) of the considered class in respect of two dimensional systems theory. Tracking performance of a reference model is achieved based on H∞ criteria formulated in terms of linear matrix inequality (LMI). The simulation results carried out on servo flexible system are presented to demonstrate the effectiveness of the proposed scheme.
Copyright © 2014 Praise Worthy Prize - All rights reserved.

Keywords


Monotonic Convergence; Two Dimensional Systems Theory; Uncertain Systems Iterative Learning Control; H∞ Approach; Linear Matrix Inequality Techniques

Full Text:

PDF


References


Proceedings of the 19th International Symposium on Mathematical Theory of Networks and Systems – MTNS 2010. 5–9 July, 2010. Budapest, Hungary LQ parametrization of Robust Stabilizing Static Output Feedback Controllers for 2D Continuous Roesser Models Pavel Pakshin, Krzysztof Gałkowski and Eric Rogers

L. Wang, H. Xu, and Y. Zou, “Regular Unknown Input Functional Observers for 2-D Singular Systems”, International Journal of Control, Automation, and Systems, vol. 11, no. 5, pp.911-918, 2013.
http://dx.doi.org/10.1007/s12555-012-9422-8

W. Chen and Y. Lin, “2D System Approach based Output Feedback Repetitive Control for Uncertain Discrete-time Systems”, International Journal of Control, Automation, and Systems, vol. 10, no. 2, pp.257-264, 2012.
http://dx.doi.org/10.1007/s12555-012-0206-y

Škultéty, J., Miklovičová, E., Bars, R., Feedforward control design based on laguerre network modelling, (2014) International Review of Automatic Control (IREACO), 7 (5), pp. 461-466.
http://dx.doi.org/10.15866/ireaco.v7i5.3116

A Madady, “An Extended PID Type Iterative Learning Control”, International Journal of Control, Automation, and Systems, vol. 11, no. 3, pp.470-481, 2013
http://dx.doi.org/10.1007/s12555-012-0350-4

F. Bouakrif, “Iterative Learning Control for Strictly Unknown Nonlinear Systems Subject to External Disturbances”, International Journal of Control, Automation, and Systems, vol. 9, no. 4, pp.642-648, 2011.
http://dx.doi.org/10.1007/s12555-011-0404-z

Y. Liu and Y. Jia, “Formation Control of Discrete-Time Multi-Agent Systems by Iterative Learning Approach”, International Journal of Control, Automation, and Systems, vol. 10, no. 5, pp.913-919, 2012.
http://dx.doi.org/10.1007/s12555-012-0507-1

Queen, M.P.F., Kumar, M.S., Aurtherson, P.B., Repetitive learning controller for six degree of freedom robot manipulator, (2013) International Review of Automatic Control (IREACO), 6 (3), pp. 286-293.

E. Rogers and D. H. Owens, “Stability Analysis for Linear Repetitive Processes”. New York: Springer-Verlag, 1992, vol. 175.
http://dx.doi.org/10.1007/bfb0007165

B. Bukkems, D.Kostic, B. Jager and M. Steinbuch, “Learning based identification and iterative learning control of direct-drive robots”, IEEE Trans. Control Systems technology, 13(4):537-549, 2005.
http://dx.doi.org/10.1109/tcst.2005.847335

D. D. Roover and O. K. Bosgra, “Synthesis of robust multivariable iterative learning controllers with application to a wafer stage motion system”, International Journal of Control, 73(10):968-979, 2000.
http://dx.doi.org/10.1080/002071700405923

H. Ding and J.H.Wu, “Point-to-point motion control for a high acceleration positioning table via cascaded learning schemes”, IEEE Trans. Industrial Electronics, 54(5):2735-2744, 2007.
http://dx.doi.org/10.1109/tie.2007.894702

J.H. Wu and H. Ding, “Iterative learning variable structure controller for high-speed and high-precision point-to-point motion”, Robotics and Computer-Integrated Manufacturing, 24(3):384-391, 2008.
http://dx.doi.org/10.1016/j.rcim.2007.02.021

B. E. Helfrich, C. Lee, D. A. Bristow, et al., “Combined H∞-feedback control and iterative learning control design with application to nanopositioning systems”, IEEE Trans. Control System technology,18(2):336-351, 2010.
http://dx.doi.org/10.1109/tcst.2009.2018835

A. Tayebi, S. Abdul and M.B. Zaremba, “Robust iterative learning control design via μ-synthesis”, in Proceedings of the 2005 conference on control applications, 2005: 416-421.
http://dx.doi.org/10.1109/cca.2005.1507161

D. H. Nguyen and D. Banjerdpongchai. “Robust Iterative Learning Control for Linear Systems with Time-Varying Parametric Uncertainties”, Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference Shanghai, P.R. China, December, 2009 16-18.
http://dx.doi.org/10.1109/cdc.2009.5399615

T-Y Doh, J. R Ryoo, and D. E Chang, “Robust Iterative Learning Controller Design using the Performance Weighting Function of Feedback Control Systems”, International Journal of Control, Automation, and Systems, vol. 12, no. 1, pp.63-70, 2014.
http://dx.doi.org/10.1007/s12555-012-9401-0

X-H. Chang, “H∞ Controller Design for Linear Systems with Time-invariant Uncertainties”, International Journal of Control, Automation, and Systems, vol. 9, no. 2, pp.391-395, 2011.
http://dx.doi.org/10.1007/s12555-011-0222-3

Roushandel, A., Khosravi, A., Alfi, A., A robust LMI-based stabilizing control method for bilateral teleoperation systems, (2013) International Review of Automatic Control (IREACO), 6 (2), pp. 97-106.

P. P. Khargonekar, I. R. Petersen, and K. Zhou, “Robust stabilization of uncertain linear systems: Quadratic stabilizability and H∞ control theory,” IEEE Trans. Autom. Control, vol. 35, no. 3, pp. 356–361, Mar. 1990.
http://dx.doi.org/10.1109/9.50357

O. Kouki, Ch. Mnasri, M. Gasmi, “LMI Approach to Robust Iterative Learning Control for Linear Systems with Disturbances”, European Journal of Scientific Research ISSN 1450-216X/ 1450-202X Vol.120 No.1 (2014), pp.20-30.

S. Gunnarsson, M. Norrlöf, E. Rahic, M. Özbek, “Iterative Learning Control of a Flexible Robot Arm Using Accelerometers”, Technical reports from the Control & Communication group in Linköping, Report no. LiTH-ISY-R-2524, Submitted to Mekatronikmöte, 2003.


Refbacks

  • There are currently no refbacks.



Please send any question about this web site to info@praiseworthyprize.com
Copyright © 2005-2019 Praise Worthy Prize