https://scholars.lib.ntu.edu.tw/handle/123456789/580650
標題: | On improving transient behavior and steady-state performance of model-free iterative learning control | 作者: | Zhang G.-H CHENG-WEI CHEN |
關鍵字: | Errors; Iterative methods; Learning algorithms; Learning systems; Robustness (control systems); Transient analysis; Conservative learning; Iterative learning control; Iterative learning control algorithm; Model-free inversion; Non linear inversion; Robustness of model; Steady state performance; Tracking performance; Two term control systems | 公開日期: | 2020 | 卷: | 53 | 起(迄)頁: | 1433-1438 | 來源出版物: | IFAC-PapersOnLine | 摘要: | A novel model-free iterative learning control algorithm is proposed in this paper to improve both the robustness against output disturbances and the tracking performance in steady-state. For model-free ILC, several methods have been investigated, such as the time-reversal error filtering, the Model-Free Inversion-based Iterative Control (MFIIC), and the Non- Linear Inversion-based Iterative Control (NLIIC). However, the time-reversal error filtering has a conservative learning rate. Other two methods, although with much faster error convergence, have either a high noise sensitivity or a non-optimized steady-state. To improve the performance and robustness of model-free ILC, we apply the time-reversal based ILC and recursively accelerate its error convergence using the online identified learning filter. The effectiveness of the proposed algorithm has been validated by a numerical simulation. The proposed approach not only improves the transient response of the MFIIC, but achieves lower tracking error in steady-state compared to that of the NLIIC. Copyright ? 2020 The Authors. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85108030554&doi=10.1016%2fj.ifacol.2020.12.1914&partnerID=40&md5=0a6931237b1547690e77484656a8bf97 https://scholars.lib.ntu.edu.tw/handle/123456789/580650 |
ISSN: | 24058963 | DOI: | 10.1016/j.ifacol.2020.12.1914 |
顯示於: | 電機工程學系 |
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