Observer Based Iterative Learning Control of Uncertain Plant
نویسندگان
چکیده
منابع مشابه
Second Order Sliding Mode Observer-Based Control for Uncertain Nonlinear MEMS Optical Switch
This paper studies theuncertain nonlinear dynamics of a MEMS optical switch addressing electrical, mechanical and optical subsystems. Recently, MEMS optical switch has had significant merits in reliability, control voltage requirements and power consumption. However, an inherent weakness in designing control for such systems is unavailability of switch position information at all times due to t...
متن کاملDisturbance-Observer-based Robust Control for Time Delay Uncertain Systems
A robust control scheme is proposed for a class of systems with uncertainty and time delay based on disturbance observer technique. A disturbance observer is developed to estimate the disturbance generated by an exogenous system, and the design parameter of the disturbance observer is determined by solving linear matrix inequalities (LMIs). Based on the output of the disturbance observer, a rob...
متن کاملIterative Learning Control for uncertain systems: Robust monotonic convergence analysis
In this paper, we present a novel Robust Monotonic Convergence (RMC) analysis approach for finite time interval Iterative Learning Control (ILC) for uncertain systems. For that purpose, a finite time interval model for uncertain systems is introduced. This model is subsequently used in an RMC analysis based on μ analysis. As a result, we can handle additive andmultiplicative uncertainty models ...
متن کاملObserver-based Iterative Learning Control for a Class of Time-Varying Nonlinear Systems
In this brief, we propose an observer-based iterative learning control (ILC) scheme for the tracking problem of a class of time-varying nonlinear systems. First, a state observer is derived for the system under consideration, and sufficient conditions for the boundedness and the convergence to zero of the estimation error are given. Thereafter, an iterative learning rule—based on the proposed s...
متن کاملEstimation-based iterative learning control
i i i i i i Cover illustration: ILC applied to a problem where, for example, a robot tool is supposed to track a circular path. In the beginning, the tracking performance is poor, but as the ILC algorithm " learns " , the performance improves and comes very close to a perfect circle. The orange colour represents the connection to the experiments performed on ABB robots. Linköping studies in sci...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2019
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2019.12.666