Frequency-domain approach to robust iterative learning controller design for uncertain time-delay systems

Deyuan Meng; Yingmin Jia; Junping Du; Fashan Yu

doi:10.1109/CDC.2009.5399844

Frequency-domain approach to robust iterative learning controller design for uncertain time-delay systems

Deyuan Meng^*
, Yingmin Jia
, Junping Du
, Fashan Yu

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

This paper deals with the robust iterative learning control (ILC) for time-delay systems (TDS) with both model and delay uncertainties. An ILC algorithm with anticipation in time is considered, and a frequency-domain approach to its design is presented. It shows that a necessary and sufficient convergence condition can be provided in terms of three design parameters: the lead time, the learning gain, and the performance weighting function. In particular, if the lead time is chosen as just the delay estimate, then the convergence condition is derived independent of the delay and the uncertainties. In this case, with the selection of the performance weighting function, the perfect tracking can be achieved, or the least upper bound of the ℒ₂-norm of the limit tracking error can be guaranteed less than the least upper bound of the ℒ₂-norm of the initial tracking error.

Original language	English
Title of host publication	Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4870-4875
Number of pages	6
ISBN (Print)	9781424438716
DOIs	https://doi.org/10.1109/CDC.2009.5399844
State	Published - 2009
Event	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, China Duration: 15 Dec 2009 → 18 Dec 2009

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Country/Territory	China
City	Shanghai
Period	15/12/09 → 18/12/09

Keywords

Anticipation in time
Frequency-domain approach
Iterative learning control
Time-delay systems

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10.1109/CDC.2009.5399844

Cite this

Meng, D., Jia, Y., Du, J., & Yu, F. (2009). Frequency-domain approach to robust iterative learning controller design for uncertain time-delay systems. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 (pp. 4870-4875). Article 5399844 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2009.5399844

Meng, Deyuan ; Jia, Yingmin ; Du, Junping et al. / Frequency-domain approach to robust iterative learning controller design for uncertain time-delay systems. Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc., 2009. pp. 4870-4875 (Proceedings of the IEEE Conference on Decision and Control).

@inproceedings{836d28a1be0f46a0834a9c31e8f58e29,

title = "Frequency-domain approach to robust iterative learning controller design for uncertain time-delay systems",

abstract = "This paper deals with the robust iterative learning control (ILC) for time-delay systems (TDS) with both model and delay uncertainties. An ILC algorithm with anticipation in time is considered, and a frequency-domain approach to its design is presented. It shows that a necessary and sufficient convergence condition can be provided in terms of three design parameters: the lead time, the learning gain, and the performance weighting function. In particular, if the lead time is chosen as just the delay estimate, then the convergence condition is derived independent of the delay and the uncertainties. In this case, with the selection of the performance weighting function, the perfect tracking can be achieved, or the least upper bound of the ℒ2-norm of the limit tracking error can be guaranteed less than the least upper bound of the ℒ2-norm of the initial tracking error.",

keywords = "Anticipation in time, Frequency-domain approach, Iterative learning control, Time-delay systems",

author = "Deyuan Meng and Yingmin Jia and Junping Du and Fashan Yu",

year = "2009",

doi = "10.1109/CDC.2009.5399844",

language = "英语",

isbn = "9781424438716",

series = "Proceedings of the IEEE Conference on Decision and Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "4870--4875",

booktitle = "Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009",

address = "美国",

note = "48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 ; Conference date: 15-12-2009 Through 18-12-2009",

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Meng, D , Jia, Y, Du, J & Yu, F 2009, Frequency-domain approach to robust iterative learning controller design for uncertain time-delay systems. in Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009., 5399844, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 4870-4875, 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009, Shanghai, China, 15/12/09. https://doi.org/10.1109/CDC.2009.5399844

Frequency-domain approach to robust iterative learning controller design for uncertain time-delay systems. / Meng, Deyuan ; Jia, Yingmin; Du, Junping et al.
Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc., 2009. p. 4870-4875 5399844 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Frequency-domain approach to robust iterative learning controller design for uncertain time-delay systems

AU - Meng, Deyuan

AU - Jia, Yingmin

AU - Du, Junping

AU - Yu, Fashan

PY - 2009

Y1 - 2009

N2 - This paper deals with the robust iterative learning control (ILC) for time-delay systems (TDS) with both model and delay uncertainties. An ILC algorithm with anticipation in time is considered, and a frequency-domain approach to its design is presented. It shows that a necessary and sufficient convergence condition can be provided in terms of three design parameters: the lead time, the learning gain, and the performance weighting function. In particular, if the lead time is chosen as just the delay estimate, then the convergence condition is derived independent of the delay and the uncertainties. In this case, with the selection of the performance weighting function, the perfect tracking can be achieved, or the least upper bound of the ℒ2-norm of the limit tracking error can be guaranteed less than the least upper bound of the ℒ2-norm of the initial tracking error.

AB - This paper deals with the robust iterative learning control (ILC) for time-delay systems (TDS) with both model and delay uncertainties. An ILC algorithm with anticipation in time is considered, and a frequency-domain approach to its design is presented. It shows that a necessary and sufficient convergence condition can be provided in terms of three design parameters: the lead time, the learning gain, and the performance weighting function. In particular, if the lead time is chosen as just the delay estimate, then the convergence condition is derived independent of the delay and the uncertainties. In this case, with the selection of the performance weighting function, the perfect tracking can be achieved, or the least upper bound of the ℒ2-norm of the limit tracking error can be guaranteed less than the least upper bound of the ℒ2-norm of the initial tracking error.

KW - Anticipation in time

KW - Frequency-domain approach

KW - Iterative learning control

KW - Time-delay systems

UR - https://www.scopus.com/pages/publications/77950832750

U2 - 10.1109/CDC.2009.5399844

DO - 10.1109/CDC.2009.5399844

M3 - 会议稿件

AN - SCOPUS:77950832750

SN - 9781424438716

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 4870

EP - 4875

BT - Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009

Y2 - 15 December 2009 through 18 December 2009

ER -

Meng D , Jia Y, Du J, Yu F. Frequency-domain approach to robust iterative learning controller design for uncertain time-delay systems. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc. 2009. p. 4870-4875. 5399844. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2009.5399844

Frequency-domain approach to robust iterative learning controller design for uncertain time-delay systems

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