On iterative learning control design for tracking iteration-varying trajectories with high-order int

• 作 者: Chenkun YIN Jianxin XU Zhongsheng HOU
• 机 构: Advanced Control Systems Laboratory,School of Electronics and Information Engineering,Beijing Jiaoto
• 出 处: 控制理论与应用（英文版）
• 发表日期: 2010年3期
• 关键词: ILC High-order internal model Iteration-varying Nonlinear systems Continuous-tim

In this paper,iterative leing control(ILC)design is studied for an iteration-varying tracking problem in which reference trajectories are generated by high-order intal models(HOIM).An HOlM formulated as a polynomial operator between consecutive iterations describes the changes of desired trajectories in the iteration domain and makes the iterative leing problem become iteration varying.The classical ILC for tracking iteration-invariant reference trajectories,on the other hand,is a special case of HOlM where the polynomial renders to a unity coefficient or a special first-order intal model.By inserting the HOIM into P-type ILC,the tracking performance along the iteration axis is investigated for a class of continuous-time nonlinear systems.Time-weighted norm method is utilized to guarantee validity of proposed algorithm in a sense of data-driven control.