Application and Design of a Robust Iterative Learning Controller for Uncertain Time-delay Systems

摘要：

A novel method-robust iterative learning control (RILC) is proposed for time-varying systems with certain in time-delay in this paper. The robust iterative learning controller is obtained by resolving Riccati equation. In addition, the sufficient and necessary conditions of convergence are derived by Lyapunov theory. The proposed controller has lower order and can be more easily realized than robust controller. The scheme proposed guarantees that the tracking error converges to a pre-specified error bound after finite iterations. Cite a two-link planar robot as an example. The simulation result hows s the effectiveness and feasibility of the proposed method.

关键词： Rrobust control Iterative learning control Uncertain time-delay systems Riccati equation

作者: Xisheng Zhan

作者单位: Department of Control technology and engineering, Hubei Normal University,Huangshi Hubei Province 435002 China

会议类型: 国际会议

会议名称: 2006 IEEE International Conference on Information Acquisition

会议地点: 山东威海

会议语种:英文

页码: 1475-1480

在线出版日期: 2006-08-20（万方平台首次上网日期，不代表论文的发表时间）