An iterative predictive learning control approach with application to train trajectory tracking

An approach of iterative predictive learning control (IPLC) is proposed for the control of train trajectory tracking. Through combining iterative learning control with predictive control method, the iterative predictive learning control for input-affine nonlinear systems is formulated and solved in this paper. Its application to train trajectory tracking is detailed. Rigorous theoretical analysis confirms that the proposed approach can guarantee the asymptotic convergence of train speed and position to desired profiles along iteration axis. Simulation result shows its effectiveness and feasibility.