Iterative learning control for constrained linear systems
- 3 June 2010
- journal article
- research article
- Published by Taylor & Francis Ltd in International Journal of Control
- Vol. 83 (7), 1397-1413
- https://doi.org/10.1080/00207171003758752
Abstract
This article considers iterative learning control (ILC) for linear systems with convex control input constraints. First, the constrained ILC problem is formulated in a novel successive projection framework. Then, based on this projection method, two algorithms are proposed to solve this constrained ILC problem. The results show that, when perfect tracking is possible, both algorithms can achieve perfect tracking. The two algorithms differ, however, in that one algorithm needs much less computation than the other. When perfect tracking is not possible, both algorithms can exhibit a form of practical convergence to a ‘best approximation’. The effect of weighting matrices on the performance of the algorithms is also discussed and finally, numerical simulations are given to demonstrate the effectiveness of the proposed methods.Keywords
This publication has 16 references indexed in Scilit:
- Accelerated norm-optimal iterative learning control algorithms using successive projectionInternational Journal of Control, 2009
- Basis functions and parameter optimisation in high-order iterative learning controlAutomatica, 2006
- Iterative learning control — An optimization paradigmAnnual Reviews in Control, 2005
- On the design of ILC algorithms using optimizationAutomatica, 2001
- Model-based iterative learning control with a quadratic criterion for time-varying linear systemsAutomatica, 2000
- Predictive optimal iterative learning controlInternational Journal of Control, 1998
- Iterative learning control using optimal feedback and feedforward actionsInternational Journal of Control, 1996
- A projection and contraction method for a class of linear complementarity problems and its application in convex quadratic programmingApplied Mathematics & Optimization, 1992
- Higher-order iterative learning control algorithmIEE Proceedings D Control Theory and Applications, 1989
- On the Goldstein-Levitin-Polyak gradient projection methodIEEE Transactions on Automatic Control, 1976