Robust iterative learning control for uncertain continuous‐time system with input delay and random iteration‐varying uncertainties

Abstract This study deals with the problem of robust iterative learning control (ILC) for linear continuous‐time systems with input delay subject to uncertainties in input delay, plant dynamic, reference trajectory, initial conditions and disturbances. Using the internal model control (IMC) structur...

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Main Authors:	Hamid Shokri‐Ghaleh, Soheil Ganjefar, Alireza Mohammad Shahri
Format:	Article
Language:	English
Published:	Wiley 2021-09-01
Series:	IET Control Theory & Applications
Online Access:	https://doi.org/10.1049/cth2.12156

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spelling	doaj-1ad6cbd011a746b6a5aca04e495260492021-08-03T01:01:57ZengWileyIET Control Theory & Applications1751-86441751-86522021-09-0115131749176110.1049/cth2.12156Robust iterative learning control for uncertain continuous‐time system with input delay and random iteration‐varying uncertaintiesHamid Shokri‐Ghaleh0Soheil Ganjefar1Alireza Mohammad Shahri2School of Electrical Engineering Iran University of Science and Technology Tehran 1684613114 IranSchool of Electrical Engineering Iran University of Science and Technology Tehran 1684613114 IranSchool of Electrical Engineering Iran University of Science and Technology Tehran 1684613114 IranAbstract This study deals with the problem of robust iterative learning control (ILC) for linear continuous‐time systems with input delay subject to uncertainties in input delay, plant dynamic, reference trajectory, initial conditions and disturbances. Using the internal model control (IMC) structure in the frequency domain, an ILC scheme is proposed in which the IMC structure is responsible for coping with uncertainties in both delay time and plant dynamic. Sufficient conditions are derived to ensure that the tracking error expectation is bounded and converges monotonically to a small neighbourhood of zero (in the L2‐norm sense) when uncertainties in reference trajectory, initial conditions and disturbances vary randomly from trial to trial. It is shown that the derived conditions are still valid to guarantee both boundedness and monotonic convergence of the tracking error variance (in the L2‐norm sense). Illustrative examples are provided to demonstrate the effectiveness of the proposed method.https://doi.org/10.1049/cth2.12156
collection	DOAJ
language	English
format	Article
sources	DOAJ
author	Hamid Shokri‐Ghaleh Soheil Ganjefar Alireza Mohammad Shahri
spellingShingle	Hamid Shokri‐Ghaleh Soheil Ganjefar Alireza Mohammad Shahri Robust iterative learning control for uncertain continuous‐time system with input delay and random iteration‐varying uncertainties IET Control Theory & Applications
author_facet	Hamid Shokri‐Ghaleh Soheil Ganjefar Alireza Mohammad Shahri
author_sort	Hamid Shokri‐Ghaleh
title	Robust iterative learning control for uncertain continuous‐time system with input delay and random iteration‐varying uncertainties
title_short	Robust iterative learning control for uncertain continuous‐time system with input delay and random iteration‐varying uncertainties
title_full	Robust iterative learning control for uncertain continuous‐time system with input delay and random iteration‐varying uncertainties
title_fullStr	Robust iterative learning control for uncertain continuous‐time system with input delay and random iteration‐varying uncertainties
title_full_unstemmed	Robust iterative learning control for uncertain continuous‐time system with input delay and random iteration‐varying uncertainties
title_sort	robust iterative learning control for uncertain continuous‐time system with input delay and random iteration‐varying uncertainties
publisher	Wiley
series	IET Control Theory & Applications
issn	1751-8644 1751-8652
publishDate	2021-09-01
description	Abstract This study deals with the problem of robust iterative learning control (ILC) for linear continuous‐time systems with input delay subject to uncertainties in input delay, plant dynamic, reference trajectory, initial conditions and disturbances. Using the internal model control (IMC) structure in the frequency domain, an ILC scheme is proposed in which the IMC structure is responsible for coping with uncertainties in both delay time and plant dynamic. Sufficient conditions are derived to ensure that the tracking error expectation is bounded and converges monotonically to a small neighbourhood of zero (in the L2‐norm sense) when uncertainties in reference trajectory, initial conditions and disturbances vary randomly from trial to trial. It is shown that the derived conditions are still valid to guarantee both boundedness and monotonic convergence of the tracking error variance (in the L2‐norm sense). Illustrative examples are provided to demonstrate the effectiveness of the proposed method.
url	https://doi.org/10.1049/cth2.12156
work_keys_str_mv	AT hamidshokrighaleh robustiterativelearningcontrolforuncertaincontinuoustimesystemwithinputdelayandrandomiterationvaryinguncertainties AT soheilganjefar robustiterativelearningcontrolforuncertaincontinuoustimesystemwithinputdelayandrandomiterationvaryinguncertainties AT alirezamohammadshahri robustiterativelearningcontrolforuncertaincontinuoustimesystemwithinputdelayandrandomiterationvaryinguncertainties
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Robust iterative learning control for uncertain continuous‐time system with input delay and random iteration‐varying uncertainties

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