A note on causal and CITE iterative learning control algorithms

The convergence properties of causal and current iteration tracking error (CITE) discrete time iterative learning control (ILC) algorithms are studied using time and frequency domain convergence criteria. Of particular interest are conditions for monotone convergence, and these are evaluated using a discrete-time version of Bode's integral theorem.

[1]  Svante Gunnarsson,et al.  On the design of ILC algorithms using optimization , 2001, Autom..

[2]  Mikael Norrlöf,et al.  Iterative Learning Control : Analysis, Design, and Experiments , 2000 .

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

[4]  Roberto Horowitz,et al.  Learning Control of Robot Manipulators , 1993 .

[5]  Renjeng Su,et al.  An H∞ approach to learning control systems , 1990 .

[6]  Svante Gunnarsson,et al.  Experimental comparison of some classical iterative learning control algorithms , 2002, IEEE Trans. Robotics Autom..

[7]  Jian-Xin Xu,et al.  Iterative Learning Control , 1998 .

[8]  Bing-Fei Wu,et al.  A simplified approach to Bode's theorem for continuous-time and discrete-time systems , 1992 .

[9]  Peter B. Goldsmith.  On the equivalence of causal LTI iterative learning control and feedback control , 2002, Autom..

[10]  Mikael Norrlöf,et al.  Some New Results on Current Iteration Tracking Error ILC , 2002 .

[11]  Friedrich Lange,et al.  Learning accurate path control of industrial robots with joint elasticity , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[12]  Tong Heng Lee,et al.  An iterative learning controller using current iteration tracking error information and initial state learning , 1996, Proceedings of 35th IEEE Conference on Decision and Control.

[13]  Richard W. Longman,et al.  Iterative learning control and repetitive control for engineering practice , 2000 .

[14]  U. Grenander,et al.  Toeplitz Forms And Their Applications , 1958 .

[15]  Jian-Xin Xu,et al.  Current iteration tracking error assisted iterative learning control of uncertain nonlinear discrete-time systems , 1996, Proceedings of 35th IEEE Conference on Decision and Control.

[16]  Eric Rogers,et al.  Recent developments in adaptive iterative learning control , 1999, Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304).