Iterative Learning Control for Linear Time-Varying Systems in the Presence of Iteration-Varying Disturbance

Yu Dou, Lanlan Su, Emmanuel Prempain

2024

Abstract

This paper presents an innovative Iterative Learning Control (ILC) strategy for Linear Time-Varying (LTV) systems subject to uncertainties. In a real-world environment, implementing ILC causes the uncertainties to vary concerning both time and iteration. To address this challenge, we introduce a metric to quantify the impact of the uncertainties on the tracking error’s variation. First, an equivalent 2D Roesser model is established for the uncertain ILC system. It has uncertain parameters and is subject to an external disturbance caused by the time-varying model uncertainties of the original system. Then, a Linear Matrix Inequality (LMI) condition is proposed to design the ILC law to provide an upper metric bound. The strategy aims to lower this bound, thereby reducing the impact of uncertainties on the system. Finally, preliminary numerical simulation verifies the effectiveness and robustness of the proposed strategy.

Paper Citation

in Harvard Style

Dou Y., Su L. and Prempain E. (2024). Iterative Learning Control for Linear Time-Varying Systems in the Presence of Iteration-Varying Disturbance. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-717-7, SciTePress, pages 645-650. DOI: 10.5220/0012908100003822

in Bibtex Style

@conference{icinco24,
author={Yu Dou and Lanlan Su and Emmanuel Prempain},
title={Iterative Learning Control for Linear Time-Varying Systems in the Presence of Iteration-Varying Disturbance},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2024},
pages={645-650},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012908100003822},
isbn={978-989-758-717-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Iterative Learning Control for Linear Time-Varying Systems in the Presence of Iteration-Varying Disturbance
SN - 978-989-758-717-7
AU - Dou Y.
AU - Su L.
AU - Prempain E.
PY - 2024
SP - 645
EP - 650
DO - 10.5220/0012908100003822
PB - SciTePress