Spatial iterative learning control for a class of uncertain motion systems
LIU Jiao-long
DONG Xin-min
XUE Jian-ping
WANG Hai-tao
Abstract：In this paper,the tracking control problem for a class of uncertain motion systems which are iteratively running in the spatial domain is discussed.By introducing a spatial state differentiator operator and spatial composite energy function,a spatial period adaptive iterative learning control algorithm is proposed.First,the spatial state differentiator is utilized to transform the motion systems from the time formulation to the spatial formulation.Then,the controller is designed based on the spatial composite energy function.The system uncertainties are learned by the adapting law with projection operator,and an additional robust item is introduced to work concurrently with the learning mechanism to tackle the non-parametric uncertainties.With rigorous mathematical analysis,the convergence properties of tracking error are derived under the identical initial condition and random initial condition within a bound.Finally,a numerical example of a train tracking control is further provided to illustrate the effectiveness of the proposed algorithm.
Keywords：iterative learning controlspatial motion systemscomposite energy functionsystem uncertaintiesinitial state error
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 197-204 )