Extended State Observer-Based Data-Driven Iterative Learning Control for Permanent Magnet Linear Motor With Initial Shifts and Disturbances

被引:95
作者
Hui, Yu [1 ]
Chi, Ronghu [1 ]
Huang, Biao [2 ]
Hou, Zhongsheng [3 ]
机构
[1] Qingdao Univ Sci & Technol, Inst Artificial Intelligence & Control, Sch Automat & Elect Engn, Qingdao 266061, Peoples R China
[2] Univ Alberta, Dept Chem & Mat Engn, Edmonton, AB T6G 2G6, Canada
[3] Qingdao Univ, Sch Automat, Qingdao 266071, Peoples R China
来源
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS | 2021年 / 51卷 / 03期
基金
美国国家科学基金会;
关键词
Uncertainty; Nonlinear dynamical systems; Permanent magnet motors; Control systems; Mathematical model; Iterative learning control; Permanent magnets; Data-driven iterative learning control (ILC); exogenous disturbances; extended state observer (ESO); initial shifts; permanent magnet linear motor (PMLM);
D O I
10.1109/TSMC.2019.2907379
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 paper, an extended state observer-based data-driven iterative learning control [extended state observer (ESO)-based DDILC] is developed for a permanent magnet linear motor (PMLM). The PMLM is formulated mathematically by using a general nonlinear discrete-time system with consideration of exogenous disturbances. Then, a new iterative dynamic linearization (IDL) is proposed to equivalently reformulate the nonlinear PMLM system with a linear input-output incremental form involving iteration-varying initial states and disturbances. The concept of ESO is introduced into iteration direction to iteratively estimate the random initial states and disturbances as well as their corresponding partial derivatives by considering all of them as a whole extended state. The proposed ESO-based DDILC scheme contains a learning control algorithm and a gradient parameter updating algorithm obtained from two distinct objective functions, respectively. Moreover, the proposed method is data-driven and no explicit model is involved. Theoretical analysis shows the robustness of the proposed method in the presence of iteration-varying initial shifts and disturbances. The simulation on PMLM is conducted to confirm the validity and applicability of the ESO-based DDILC.
引用
收藏
页码:1881 / 1891
页数:11
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