Iterative Learning Control for Nonlinear Systems with Data Dropouts at Both Measurement and Actuator Sides

This paper discusses the iterative learning control (ILC) for nonlinear systems under a general networked control structure, in which random data dropouts occur independently at both measurement and actuator sides. Both updating algorithms are proposed for the computed input signal at the learning controller and the real input signal at the plant, respectively. The system output is strictly proved to converge to the desired reference with probability one as the iteration number goes to infinity. A numerical simulation is provided to verify the effectiveness of the proposed mechanism and algorithms.

[1]  YangQuan Chen,et al.  Intermittent iterative learning control , 2006, 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control.

[2]  Zeung nam Bien,et al.  A Study On Iterative Learning Control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup‐Norm , 2008 .

[3]  Xuhui Bu,et al.  H∞ iterative learning controller design for a class of discrete-time systems with data dropouts , 2014, Int. J. Syst. Sci..

[4]  Dong Shen,et al.  ILC for networked nonlinear systems with unknown control direction through random Lossy channel , 2015, Syst. Control. Lett..

[5]  Mingxuan Sun,et al.  An iterative learning controller with initial state learning , 1999, IEEE Trans. Autom. Control..

[6]  Kevin L. Moore,et al.  Trajectory‐keeping in satellite formation flying via robust periodic learning control , 2010 .

[7]  Jian Liu,et al.  Synchronous-substitution-type iterative learning control for discrete-time networked control systems with Bernoulli-type stochastic packet dropouts , 2018, IMA J. Math. Control. Inf..

[8]  A.G. Alleyne,et al.  A survey of iterative learning control , 2006, IEEE Control Systems.

[9]  Kamen Delchev.  Iterative Learning Control for Nonlinear Systems: A Bounded‐Error Algorithm , 2013 .

[10]  Suguru Arimoto,et al.  Bettering operation of Robots by learning , 1984, J. Field Robotics.

[11]  Kevin L. Moore,et al.  Iterative Learning Control: Brief Survey and Categorization , 2007, IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews).

[12]  Ya-Jun Pan,et al.  Effects of network communications on a class of learning controlled non-linear systems , 2009, Int. J. Syst. Sci..

[13]  Junmin Li,et al.  Event‐Triggered Iterative Learning Control for Multi‐Agent Systems with Quantization , 2018 .

[14]  Kevin L. Moore,et al.  Stability of discrete-time iterative learning control with random data dropouts and delayed controlled signals in networked control systems , 2008, 2008 10th International Conference on Control, Automation, Robotics and Vision.

[15]  Dong Shen,et al.  Two updating schemes of iterative learning control for networked control systems with random data dropouts , 2017, Inf. Sci..

[16]  Junmin Li,et al.  Iterative Learning Control for Multi-Agent Systems With Finite-Leveled Sigma-Delta Quantization and Random Packet Losses , 2017, IEEE Transactions on Circuits and Systems I: Regular Papers.

[17]  Dong Shen,et al.  Iterative learning control for discrete-time stochastic systems with quantized information , 2016, IEEE/CAA Journal of Automatica Sinica.

[18]  Shangtai Jin,et al.  Computationally‐Light Non‐Lifted Data‐Driven Norm‐Optimal Iterative Learning Control , 2018 .

[19]  Jian Liu,et al.  Networked iterative learning control for discrete-time systems with stochastic packet dropouts in input and output channels , 2017 .

[20]  Mingxuan Sun,et al.  Iterative learning control with initial rectifying action , 2002, Autom..

[21]  Wei Zhang,et al.  Iterative Learning Control for discrete nonlinear systems with randomly iteration varying lengths , 2016, Syst. Control. Lett..

[22]  Jian Liu,et al.  Networked iterative learning control approach for nonlinear systems with random communication delay , 2016, Int. J. Syst. Sci..

[23]  Dong Shen,et al.  Survey on stochastic iterative learning control , 2014 .

[24]  Jian Liu,et al.  Networked Iterative Learning Control Design for Nonlinear Systems with Stochastic Output Packet Dropouts , 2018 .

[25]  Xuhui Bu,et al.  Iterative learning control for a class of nonlinear systems with random packet losses , 2013 .

[26]  Dong Shen,et al.  Intermittent and Successive ILC for Stochastic Nonlinear Systems with Random Data Dropouts , 2018 .

[27]  Dong Shen,et al.  Iterative learning control for networked stochastic systems with random packet losses , 2014, Int. J. Control.

[28]  Kevin L. Moore,et al.  Discrete-time Intermittent Iterative Learning Controller with Independent Data Dropouts , 2008 .

[29]  Jian Liu,et al.  Networked iterative learning control design for discrete-time systems with stochastic communication delay in input and output channels , 2017, Int. J. Syst. Sci..

[30]  Dong Shen,et al.  Stochastic Point‐to‐Point Iterative Learning Control Based on Stochastic Approximation , 2017 .

[31]  Xuhui Bu,et al.  Stability of first and high order iterative learning control with data dropouts , 2011 .