Linear Parameter-Varying Iterative Learning Control With Application to a Linear Motor System

被引：73

作者：

Butcher, Mark ^{[1
]}

Karimi, Alireza ^{[1
]}

机构：

[1] Ecole Polytech Fed Lausanne, Automat Control Lab, CH-1015 Lausanne, Switzerland

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2010年 / 15卷 / 03期

基金：

瑞士国家科学基金会;

关键词：

Learning control systems; linear motors; linear parameter-varying (LPV) system; motion control; DESIGN; MACHINE;

D O I：

10.1109/TMECH.2009.2027435

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 iterative-learning-control (ILC) algorithm is proposed for a certain class of linear parameter-varying (LPV) systems whose dynamics change between iterations. Consistency of the algorithm in the presence of stochastic disturbances is shown. The proposed algorithm is tested in simulation and the obtained tracking performance is compared with that obtained using a standard linear time-invariant ILC algorithm. Better results are obtained using the proposed method. The method is also applied to a linear, permanent-magnet synchronous motor system, which is shown to be an LPV system for a specific class of movements. Greatly improved tracking is achieved.

引用

页码：412 / 420

页数：9

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