A 2D systems approach to iterative learning control for discrete linear processes with zero Markov parameters

被引：18

作者：

Hladowski, Lukasz ^{[1
]}

Galkowski, Krzysztof ^{[1
]}

Cai, Zhonglun ^{[2
]}

Rogers, Eric ^{[2
]}

Freeman, Chris T. ^{[2
]}

Lewin, Paul L. ^{[2
]}

机构：

[1] Univ Zielona Gora, Inst Control & Computat Engn, Zielona Gora, Poland

[2] Univ Southampton, Sch Elect & Comp Sci, Southampton SO17 1BJ, Hants, England

来源：

INTERNATIONAL JOURNAL OF CONTROL | 2011年 / 84卷 / 07期

关键词：

iterative learning control; repetitive process; experimental verification; ROBOTS;

D O I：

10.1080/00207179.2011.575799

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this article a new approach to iterative learning control for the practically relevant case of deterministic discrete linear plants with uniform rank greater than unity is developed. The analysis is undertaken in a 2D systems setting that, by using a strong form of stability for linear repetitive processes, allows simultaneous consideration of both trial-to-trial error convergence and along the trial performance, resulting in design algorithms that can be computed using linear matrix inequalities (LMIs). Finally, the control laws are experimentally verified on a gantry robot that replicates a pick and place operation commonly found in a number of applications to which iterative learning control is applicable.

引用

页码：1246 / 1262

页数：17

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