Bettering operation of dynamic systems by learning: A new control theory for servomechanism or mechatronics systems

Convergence analysis of cyclic Iterative Learning Control scheme

“…Due to the repetitive nature of task for the robotic manipulators, ILC has been employed for enhanced tracking performance from its beginning in 1980's [1][2][3][4]. However, use of ILC to solve walking problem of the bipedal robot is relatively a new application area.…”

Multivariable Discrete Time Repetitive Control System

“…Several researchers were interested in this type of control law (Arimoto et al (1984), Sugie and Ono (1991), Moore et al (1992), Xu and Tan (2003), Ahn et al (2007) and Saari et al (2010)). Most of their works were focused on the problem of the control in the multivariable case.…”

Iterative learning control with sampled-data feedback for robot manipulators

“…If the linear approximation of a nonlinear dynamics results in great uncertainties, the corresponding LILC may fail to ensure the admissible tracking accuracy. In this case, one should resort to nonlinear models and nonlinear iterative learning control (NILC) [5,7]. In this paper, a nonlinear multipleinput-multiple-output (MIMO) dynamic model is considered.…”

“…Linear iterative learning control (LILC) is an ILC for linear systems or based on a linear model of nonlinear systems [5,6]. If the linear approximation of a nonlinear dynamics results in great uncertainties, the corresponding LILC may fail to ensure the admissible tracking accuracy.…”

“…1(b), correspondingly, where P P P is a plant and C C C is a feedback controller, solid The ILC is a class of adaptive algorithms, which improves the tracking accuracy of repetitive processes. The ILC is based on the idea that the information from previous trial is used to update the feedforward control law in order to obtain better performance of the assigned task on the next trial [5][6][7]. The following postulates are required for classical ILC [6,8]: every trail ends in a fixed time of duration, repetition of the initial setting (initial state coordinates) is satisfied, invariance of the system dynamics is ensured throughout the repetition, and the system output is measured in a deterministic way.…”