Title :
Iterative learning control for a class of systems with hysteresis
Author :
Hu, Tianjiang ; Wang, Han ; Shen, Lincheng ; Sun, Yalei ; Han Wang
Author_Institution :
Coll. of Mechatron. Eng. & Autom., Nat. Univ. of Defense Technol., Changsha
Abstract :
Hysteresis characteristics is highly nonlinear, has memory and is common in engineering systems. Its presence introduces uncertainties and nonlinearity in dynamic modelling and thus difficulties in achieving a good control design. This paper studies the suitability of iterative learning control (ILC) to compensate hysteresis uncertainties for a class of continuous-time dynamic systems. We examine dynamic systems with Preisach model hysteresis nonlinearity. It is shown that this class of systems possess properties of continuity and repeatability which are required for ILC. Furthermore, anticipatory iterative learning control (or A-type ILC) is applied to overcome the uncertainties and nonlinearity introduced by hysteresis. Simulation results are presented to validate the effectiveness of ILC laws to eliminate tracking error due to hysteresis uncertainties.
Keywords :
adaptive control; compensation; continuous time systems; control nonlinearities; hysteresis; iterative methods; learning systems; nonlinear control systems; uncertain systems; Preisach model hysteresis nonlinearity; continuous-time dynamic system; iterative learning control design; uncertain system; Automatic control; Control design; Control systems; Hysteresis; Nonlinear control systems; Robot control; Robot vision systems; Robotics and automation; Systems engineering and theory; Uncertainty; Preisach model; continuity; hysteresis; iterative learning control; repeatability;
Conference_Titel :
Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
Conference_Location :
Hanoi
Print_ISBN :
978-1-4244-2286-9
Electronic_ISBN :
978-1-4244-2287-6
DOI :
10.1109/ICARCV.2008.4795484
