• Title, Summary, Keyword: Iterative learning control

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Flexible Iterative Learning Control Based Expert System and Its Application

  • Zuojun, Liu;Zhihu, Liu;Linan, Zu;Peng, Yang
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.9 no.3
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    • pp.185-190
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    • 2009
  • A scheme of expert system based on iterative learning control is proposed. Iterative learning control can obtain control experience from the historical data to build the knowledge base of expert system. Considering some uncertain factors, a flexible measure is adopted in iterative learning control (ILC). Simulation proves the feasibility and effect of the air conditioning control expert system based on flexible iterative learning control (F-ILC). Finally, a feedback compensation unit is incorporated against irregular heavy disturbance.

Estimation of learning gain in iterative learning control using neural networks

  • Choi, Jin-Young;Park, Hyun-Joo
    • 제어로봇시스템학회:학술대회논문집
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    • pp.91-94
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    • 1996
  • This paper presents an approach to estimation of learning gain in iterative learning control for discrete-time affine nonlinear systems. In iterative learning control, to determine learning gain satisfying the convergence condition, we have to know the system model. In the proposed method, the input-output equation of a system is identified by neural network refered to as Piecewise Linearly Trained Network (PLTN). Then from the input-output equation, the learning gain in iterative learning law is estimated. The validity of our method is demonstrated by simulations.

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Feedback-Based Iterative Learning Control for MIMO LTI Systems

  • Doh, Tae-Yong;Ryoo, Jung-Rae
    • International Journal of Control, Automation, and Systems
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    • v.6 no.2
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    • pp.269-277
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    • 2008
  • This paper proposes a necessary and sufficient condition of convergence in the $L_2$-norm sense for a feedback-based iterative learning control (ILC) system including a multi-input multi-output (MIMO) linear time-invariant (LTI) plant. It is shown that the convergence conditions for a nominal plant and an uncertain plant are equal to the nominal performance condition and the robust performance condition in the feedback control theory, respectively. Moreover, no additional effort is required to design an iterative learning controller because the performance weighting matrix is used as an iterative learning controller. By proving that the least upper bound of the $L_2$-norm of the remaining tracking error is less than that of the initial tracking error, this paper shows that the iterative learning controller combined with the feedback controller is more effective to reduce the tracking error than only the feedback controller. The validity of the proposed method is verified through computer simulations.

Output Tracking of Uncertain Fractional-order Systems via Robust Iterative Learning Sliding Mode Control

  • Razmjou, Ehsan-Ghotb;Sani, Seyed Kamal-Hosseini;Jalil-Sadati, Seyed
    • Journal of Electrical Engineering and Technology
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    • v.13 no.4
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    • pp.1705-1714
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    • 2018
  • This paper develops a novel controller called iterative learning sliding mode (ILSM) to control linear and nonlinear fractional-order systems. This control applies a combination structures of continuous and discontinuous controller, conducts the system output to the desired output and achieve better control performance. This controller is designed in the way to be robust against the external disturbance. It also estimates unknown parameters of fractional-order systems. The proposed controller unlike the conventional iterative learning control for fractional systems does not need to apply direct control input to output of the system. It is shown that the controller perform well in partial and complete observable conditions. Simulation results demonstrate very good performance of the iterative learning sliding mode controller for achieving the desired control objective by increasing the number of iterations in the control loop.

Implementation of an Intelligent Learning Controller for Gait Control of Biped Walking Robot (이족보행로봇의 걸음새 제어를 위한 지능형 학습 제어기의 구현)

  • Lim, Dong-Cheol;Kuc, Tae-Yong
    • The Transactions of the Korean Institute of Electrical Engineers P
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    • v.59 no.1
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    • pp.29-34
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    • 2010
  • This paper presents an intelligent learning controller for repetitive walking motion of biped walking robot. The proposed learning controller consists of an iterative learning controller and a direct learning controller. In the iterative learning controller, the PID feedback controller takes part in stabilizing the learning control system while the feedforward learning controller plays a role in compensating for the nonlinearity of uncertain biped walking robot. In the direct learning controller, the desired learning input for new joint trajectories with different time scales from the learned ones is generated directly based on the previous learned input profiles obtained from the iterative learning process. The effectiveness and tracking performance of the proposed learning controller to biped robotic motion is shown by mathematical analysis and computer simulation with 12 DOF biped walking robot.

Torque Ripple Minimization of PMSM Using Parameter Optimization Based Iterative Learning Control

  • Xia, Changliang;Deng, Weitao;Shi, Tingna;Yan, Yan
    • Journal of Electrical Engineering and Technology
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    • v.11 no.2
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    • pp.425-436
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    • 2016
  • In this paper, a parameter optimization based iterative learning control strategy is presented for permanent magnet synchronous motor control. This paper analyzes the mechanism of iterative learning control suppressing PMSM torque ripple and discusses the impact of controller parameters on steady-state and dynamic performance of the system. Based on the analysis, an optimization problem is constructed, and the expression of the optimal controller parameter is obtained to adjust the controller parameter online. Experimental research is carried out on a 5.2kW PMSM. The results show that the parameter optimization based iterative learning control proposed in this paper achieves lower torque ripple during steady-state operation and short regulating time of dynamic response, thus satisfying the demands for both steady state and dynamic performance of the speed regulating system.

Satellite Attitude Control with a Modified Iterative Learning Law for the Decrease in the Effectiveness of the Actuator

  • Lee, Ho-Jin;Kim, You-Dan;Kim, Hee-Seob
    • International Journal of Aeronautical and Space Sciences
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    • v.11 no.2
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    • pp.87-97
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    • 2010
  • A fault tolerant satellite attitude control scheme with a modified iterative learning law is proposed for dealing with actuator faults. The actuator fault is modeled to reflect the degradation of actuation effectiveness, and the solar array-induced disturbance is considered as an external disturbance. To estimate the magnitudes of the actuator fault and the external disturbance, a modified iterative learning law using only the information associated with the state error is applied. Stability analysis is performed to obtain the gain matrices of the modified iterative learning law using the Lyapunov theorem. The proposed fault tolerant control scheme is applied to the rest-to-rest maneuver of a large satellite system, and numerical simulations are performed to verify the performance of the proposed scheme.

Robust tuning of quadratic criterion-based iterative learning control for linear batch system

  • Kim, Won-Cheol;Lee, Kwang-Soon
    • 제어로봇시스템학회:학술대회논문집
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    • pp.303-306
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    • 1996
  • We propose a robust tuning method of the quadratic criterion based iterative learning control(Q-ILC) algorithm for discrete-time linear batch system. First, we establish the frequency domain representation for batch systems. Next, a robust convergence condition is derived in the frequency domain. Based on this condition, we propose to optimize the weighting matrices such that the upper bound of the robustness measure is minimized. Through numerical simulation, it is shown that the designed learning filter restores robustness under significant model uncertainty.

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A Learning Controller for Repetitive Gait Control of Biped Walking Robot

  • Kho, Jae-Won;Lim, Dong-Cheol
    • 제어로봇시스템학회:학술대회논문집
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    • pp.1464-1468
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    • 2004
  • This paper presents a learning controller for repetitive gait control of biped walking robot. We propose the iterative learning control algorithm which can learn periodic nonlinear load change ocuured according to the walking period through the iterative learning, not calculating the complex dynamics of walking robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of learning control to biped robotic motion is shown via dynamic simulation with 12-DOF biped walking robot.

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Control of Wafer Temperature Uniformity in Rapid Thermal Processing using an Optimal Iterative teaming Control Technique (최적 반복 학습 제어기법을 이용한 RTP의 웨이퍼 온도균일제어)

  • 이진호;진인식;이광순;최진훈
    • 제어로봇시스템학회:학술대회논문집
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    • pp.358-358
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    • 2000
  • An iterative learning control technique based on a linear quadratic optimal criterion is proposed for temperature uniformity control of a silicon wafer in rapid thermal processing.

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