Iterative learning control scheme based on trust-region idea with global convergence for nonlinear dynamic systems

2012 ◽  
Author(s):  
Jingli Kang
Keyword(s):  
Global Convergence ◽  
Dynamic Systems ◽  
Nonlinear Dynamic ◽  
Iterative Learning Control ◽  
Trust Region ◽  
Learning Control ◽  
Iterative Learning ◽  
Nonlinear Dynamic Systems ◽  
Control Scheme

scholarly journals Design and Implementation of an Accelerated Error Convergence Criterion for Norm Optimal Iterative Learning Controller

Electronics ◽  
2020 ◽  
Vol 9 (11) ◽  
pp. 1766
Author(s):  
Saleem Riaz ◽  
Hui Lin ◽  
Muhammad Pervez Akhter
Keyword(s):  
Dynamic Systems ◽  
Iterative Learning Control ◽  
Learning Algorithm ◽  
Learning Control ◽  
Iterative Learning ◽  
Nonlinear Dynamic Systems ◽  
Convergence Criterion ◽  
Design And Implementation ◽  
Linear And Nonlinear ◽  
Huge Challenge

Designing an optimal iterative learning control is a huge challenge for linear and nonlinear dynamic systems. For such complex systems, standard Norm optimal iterative learning control (NOILC) is an important consideration. This paper presents a novel NOILC error convergence technique for a discrete-time method. The primary effort of the controller is to converge the error efficiently and quickly in an optimally successful way. A new iterative learning algorithm based on feedback based on reliability against input disruption was proposed in this paper. The illustration of the simulations authenticates the process suggested. The numerical example simulated on MATLAB@2019 and the mollified results affirm the validation of the designed algorithm.

scholarly journals Open-closed Iterative Learning Control Algorithm for Exoskeleton Rehabilitation Purposes

2019 ◽  
Vol 292 ◽  
pp. 01010
Author(s):  
Mihailo Lazarević ◽  
Nikola Živković ◽  
Darko Radojević
Keyword(s):  
Iterative Learning Control ◽  
Control Algorithm ◽  
Closed Loop ◽  
Learning Control ◽  
Open Loop ◽  
Iterative Learning ◽  
Control Law ◽  
Exact Linearization ◽  
Outer Loop ◽  
Control Scheme

The paper designs an appropriate iterative learning control (ILC) algorithm based on the trajectory characteristics of upper exosk el eton robotic system. The procedure of mathematical modelling of an exoskeleton system for rehabilitation is given and synthesis of a control law with two loops. First (inner) loop represents exact linearization of a given system, and the second (outer) loop is synthesis of a iterative learning control law which consists of two loops, open and closed loop. In open loop ILC sgnPDD2 is applied, while in feedback classical PD control law is used. Finally, a simulation example is presented to illustrate the feasibility and effectiveness of the proposed advanced open-closed iterative learning control scheme.

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