Title :
Robust iterative learning control for uncertain systems with both state and input delay
Author :
Zhan, Xisheng ; Zhang, Xianhe ; Wu, Jie
Author_Institution :
Hubei Normal Univ., Huangshi
Abstract :
A design method of robust iterative learning controller is proposed for uncertain systems with both state and input delay. The controller is obtained by resolving Riccati equation. In addition, the necessary and sufficient conditions of convergence are derived from 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. The simulation result shows the effectiveness and feasibility of the proposed method.
Keywords :
Lyapunov methods; Riccati equations; adaptive control; control system synthesis; convergence of numerical methods; delays; iterative methods; learning systems; robust control; uncertain systems; Lyapunov theory; Riccati equation; convergence; input delay; pre-specified error bound; robust iterative learning controller design; state delay; tracking error; uncertain system; Control systems; Convergence; Delay; Iterative algorithms; Learning systems; Nonlinear control systems; Riccati equations; Robust control; Sufficient conditions; Uncertain systems; Iterative learning control; Lyapunov theory; Robust control; Uncertain systems with both state and input delay;
Conference_Titel :
Grey Systems and Intelligent Services, 2007. GSIS 2007. IEEE International Conference on
Conference_Location :
Nanjing
Print_ISBN :
978-1-4244-1294-5
Electronic_ISBN :
978-1-4244-1294-5
DOI :
10.1109/GSIS.2007.4443399
