Title :
Fuzzy PD iterative learning control algorithm for improving tracking accuracy
Author :
Pok, Yang-Ming ; Liew, Kok-Hwa ; Xu, Jian-Xin
Author_Institution :
Math. Sci. & Comput. Center, Ngee Ann Polytech., Singapore
Abstract :
The authors develop a new P-type iterative learning control algorithm by supplementing a fuzzy control output of a fuzzy PD controller from the current iteration with a filtered learning control signal of the previous iteration. Analysis shows that the new fuzzy ILC algorithm converges rapidly. The algorithm is tested by simulations and laboratory experiments and is found to give good tracking accuracy and robustness to perturbations
Keywords :
convergence; fuzzy control; learning (artificial intelligence); perturbation techniques; tracking; two-term control; convergence; filtered learning control signal; fuzzy ILC algorithm; fuzzy PD controller; fuzzy PD iterative learning control; fuzzy control; laboratory experiments; perturbation robustness; simulation; tracking accuracy; Control systems; Convergence; Error correction; Fuzzy control; Fuzzy systems; Iterative algorithms; Noise robustness; PD control; Robust control; Uncertainty;
Conference_Titel :
Systems, Man, and Cybernetics, 1998. 1998 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4778-1
DOI :
10.1109/ICSMC.1998.728117
