Overcoming output constraints in iterative learning control systems by reference adaptation

Research output: Contribution to journalArticleResearchpeer review

Authors

  • Michael Meindl
  • Fabio Molinari
  • Jörg Raisch
  • Thomas Seel
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Details

Original languageEnglish
Pages (from-to)1480-1486
Number of pages7
JournalIFAC-PapersOnLine
Volume53
Issue number2
Publication statusPublished - 2020

Abstract

Iterative Learning Control (ILC) schemes can guarantee properties such as asymptotic stability and monotonic error convergence, but do not, in general, ensure adherence to output constraints. The topic of this paper is the design of a reference-adapting ILC (RAILC) scheme, extending an existing ILC system and capable of complying with output constraints. The underlying idea is to scale the reference at every trial by using a conservative estimate of the output's progression. Properties as the monotonic convergence above a threshold and the respect of output constraints are formally proven. Numerical simulations and experimental results reinforce our theoretical results.

Keywords

    Control of constrained systems, Iterative and Repetitive learning control, Learning for control, Linear systems

ASJC Scopus subject areas

Cite this

Overcoming output constraints in iterative learning control systems by reference adaptation. / Meindl, Michael; Molinari, Fabio; Raisch, Jörg et al.
In: IFAC-PapersOnLine, Vol. 53, No. 2, 2020, p. 1480-1486.

Research output: Contribution to journalArticleResearchpeer review

Meindl, M, Molinari, F, Raisch, J & Seel, T 2020, 'Overcoming output constraints in iterative learning control systems by reference adaptation', IFAC-PapersOnLine, vol. 53, no. 2, pp. 1480-1486. https://doi.org/10.1016/j.ifacol.2020.12.1938
Meindl, M., Molinari, F., Raisch, J., & Seel, T. (2020). Overcoming output constraints in iterative learning control systems by reference adaptation. IFAC-PapersOnLine, 53(2), 1480-1486. https://doi.org/10.1016/j.ifacol.2020.12.1938
Meindl M, Molinari F, Raisch J, Seel T. Overcoming output constraints in iterative learning control systems by reference adaptation. IFAC-PapersOnLine. 2020;53(2):1480-1486. doi: 10.1016/j.ifacol.2020.12.1938
Meindl, Michael ; Molinari, Fabio ; Raisch, Jörg et al. / Overcoming output constraints in iterative learning control systems by reference adaptation. In: IFAC-PapersOnLine. 2020 ; Vol. 53, No. 2. pp. 1480-1486.
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