Title :
A dual-loop iterative learning control for nonlinear systems with hysteresis input uncertainty
Author :
Huang, Deqing ; Tan, Ying ; Xu, Jian-Xin
Author_Institution :
Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore, Singapore
Abstract :
In this work, a dual-loop iterative learning control (ILC) scheme is designed for a class of nonlinear systems with hysteresis input uncertainty. The two ILC loops are applied to the nominal part and the hysteresis part respectively, to learn their unknown dynamics. Based on the convergence analysis for each single loop, a composite energy function method is then adopted to prove the learning convergence of the dual-loop system in iteration domain. One illustrative example shows that the proposed dual learning control scheme can work well under hysteresis input uncertainty.
Keywords :
adaptive control; control nonlinearities; control system synthesis; hysteresis; iterative methods; learning systems; nonlinear control systems; uncertain systems; composite energy function method; dual-loop iterative learning control scheme design; hysteresis input uncertainty; learning convergence; nonlinear systems; Automatic control; Control systems; Convergence; Design automation; Hysteresis; Iterative algorithms; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Uncertainty; Composite energy function; Dual-loop iterative learning control; Hysteresis; Input uncertainty;
Conference_Titel :
Control and Automation, 2009. ICCA 2009. IEEE International Conference on
Conference_Location :
Christchurch
Print_ISBN :
978-1-4244-4706-0
Electronic_ISBN :
978-1-4244-4707-7
DOI :
10.1109/ICCA.2009.5410543