Adaptive Feedforward Feedback Iterative Learning Control Method and Its Application to Autonomous Bus

Aiming at the longitudinal speed control of autonomous buses, an improved Adaptive Feedforward Feedback Iterative Learning Control (AFF-ILC) algorithm was proposed. The controller structure of this method adopts the PD-ILC control structure. At the same time, by introducing the time domain integral operator and the iterative domain differential operator, combined with the adaptively adjusted PD parameters, the feedforward and feedback learning ability of the AFF-ILC control algorithm can be preserved simultaneously. In addition, considering the bus overspeed protection and other factors, the controller design process also considers the saturation constraints of control input and controller parameters. The advantage of the proposed method is that it combines the characteristics of repeated bus operation with the characteristics of iterative learning control algorithm, and the controller design process does not require accurate modeling of the system, only the input and output data can be used for controller design. A series of simulation results verify the effectiveness of the proposed method.