Tracking Control of a Flexible String System Based on Iterative Learning Control
Meng, Tingting1; He, Wei2; He, Xiuyu2
AbstractThis brief addresses a flexible string with disturbances and a tip payload which is described by a coupled partial differential equation (PDE)-ordinary differential equation (ODE) system. An exosystem under unknown initial condition is utilized to generate the disturbances and prescribed trajectory, both of which can be periodic or aperiodic with respect to iteration. An observer and adaption laws are designed to estimate the distributed and boundary disturbances. The reference system under the estimated distributed disturbance is defined and proved to be uniformly bounded, where the endpoint displacement is set as the known prescribed trajectory in order to address the tracking control problem. Iterative learning controller is then designed to guarantee the convergence of the tracking error and the uniform boundedness of the closed-loop system. A set of simulation examples are presented to describe the performance of a closed-loop system.
KeywordTrajectory Observers Payloads Robustness Closed loop systems Convergence Adaptive control disturbance rejection flexible structure iterative learning control (ILC) tracking control
Indexed BySCI
Funding ProjectNational Natural Science Foundation of China[61933001] ; National Natural Science Foundation of China[61873298] ; Ministry of Education of China[6141A02033339] ; Fundamental Research Funds for the China Central Universities[FRF-TP-19-001C2] ; Beijing Top Discipline for Artificial Intelligent Science and Engineering, University Science and Technology Beijing ; Joint Funds of Equipment Pre-Research[6141A02033339]
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000600848100035
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Document Type期刊论文
Corresponding AuthorHe, Wei
Affiliation1.Acad Sinica, Key Lab Syst & Control, Acad Math & Syst Sci, Beijing 100190, Peoples R China
2.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Inst Artificial Intelligence, Beijing 100083, Peoples R China
Recommended Citation
GB/T 7714
Meng, Tingting,He, Wei,He, Xiuyu. Tracking Control of a Flexible String System Based on Iterative Learning Control[J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,2021,29(1):436-443.
APA Meng, Tingting,He, Wei,&He, Xiuyu.(2021).Tracking Control of a Flexible String System Based on Iterative Learning Control.IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,29(1),436-443.
MLA Meng, Tingting,et al."Tracking Control of a Flexible String System Based on Iterative Learning Control".IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 29.1(2021):436-443.
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