论文信息 - Robust Iterative Learning Control: L1 adaptive feedback control in an ILC framework

Robust Iterative Learning Control: L1 adaptive feedback control in an ILC framework

This paper presents a novel Iterative Learning Control (ILC) scheme for linear systems in the presence of parametric uncertainty. The developed ILC architecture is comprised of an £1 adaptive feedback controller combined with an ILC feedforward controller. The learning controller is designed to compensate for repetitive system uncertainties, while the adaptive controller compensates for non-repetitive uncertainties. Simulation results for a simplified motion control system illustrate the potential benefits of the architecture.

Sandipan Mishra | Enric Xargay | Kira Barton

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