Iterative learning control for one‐sided Lipschitz nonlinear singular conformable differential equations

Wang, Xiaowen; Wang, JinRong

doi:10.1002/rnc.5191

Cited by 7 publications

(5 citation statements)

References 39 publications

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“…For high precision control of pointing or attitude maneuver, a series of nonlinear control methods have been studied for the nonlinear and coupled system, such as: robust control, 8 sliding mode control, 9,10 backstepping control, [11][12][13] and iterative learning control. 14,15 These control methods are efficient in addressing unbalance and uncertainties in multibody spacecraft. References 1 and 2 conducted study on the sliding mode control system.…”

Section: F I G U R E 2 Working Sequence Of Rotating Payload Optical S...mentioning

confidence: 99%

Composite adaptive backstepping controller for variable speed rotating scan optical spacecraft

Zhao

Geng

Tao

et al. 2022

Intl J Robust & Nonlinear

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In this article, a rotating speed varying scanning strategy for multibody rotating scan optical spacecraft connected with active magnetic bearing (AMB) is introduced. This strategy can increase the imaging efficiency of the high-resolution observation mission by speeding up the rotation in the nonimaging phase. Then, to address the lack of time delay margin problem brought by variable rotational speed, a composite adaptive backstepping controller (CABC) which composed of two controllers is derived via the Lyapunov theory to guarantee the stability of the closed-loop system. In the system, two control methods switch for different phases. When the optical payload is working, the rotational speed of optical payload is decreased to achieve the high pointing precision. The high precision adaptive backstepping controller (HPABC) is used in this phase. When the optical payload stops working, the rotational speed is high and the high rotating speed adaptive backstepping controller (HRSABC) is designed to guarantee the stability of the system. Then, to give the time delay margin of two controllers and prove that the time delay margin of HRSABC is higher than the HPABC, the reference value, which represents the system stabilization and time delay margin and angular velocity margin, is derived using the discretization and linearization method. Finally, a series of numerical simulations have been performed and the simulation results indicated the new control method can effectively address the control problem brought by rotating speed varying.

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Section: F I G U R E 2 Working Sequence Of Rotating Payload Optical S...mentioning

confidence: 99%

Composite adaptive backstepping controller for variable speed rotating scan optical spacecraft

Zhao

Geng

Tao

et al. 2022

Intl J Robust & Nonlinear

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“…The continuous pursuit of achieving precise robotic movement with minimal error has been a central focus of research. Extensive investigations into the Seiko D-Tran RT3200 robotic manipulator [50], [53], [59], [69], [70] have paved the way for the development of ILC [40], [71], [72], and repetitive control systems (RC), aiming to minimize the RMSE within the system. This research specifically utilized the system equation of the Seiko D-Tran RT3200 robotic manipulator to formulate an effective control system.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Parallel Iterative Learning Control with A Time-Varying Sign Gain Approach Empowered by Expert System

Chotikunnan,

Minyong

2024

Journal of Robotics and Control

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This study explores the incorporation of time-varying sign gain into a parallel iterative learning control (ILC) architecture, augmented by an expert system, to enhance the performance and stability of a robotic arm system. The methodology involves iteratively tuning the learning control gains using time-varying sign gain guided by an expert system. Stability analysis, encompassing asymptotic and monotonic convergence, demonstrates promising results across multiple joints, affirming the effectiveness of the proposed control architecture. In comparison with traditional PID control, fixed gain ILC, and ILC with adaptive learning in the expert system, the analysis focuses on stability, precision, and adaptability, using root mean square error (RMSE) as a key metric. The results show that ILC with adaptive learning from the expert system consistently reduces RMSE, even in the presence of learning transients. This adaptability effectively controls the learning transients, ensuring improved performance in subsequent iterations. In conclusion, the integration of time-varying sign gain with expert system assistance in a parallel ILC architecture holds promise for advancing adaptive control in robotic systems. Positive outcomes in stability, precision, and adaptability suggest practical applications in real-world scenarios. This research provides valuable insights into the implementation of dynamic learning mechanisms for enhanced robotic system performance, laying the groundwork for future refinement in robotic manipulator control systems.

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“…Basic ILC implementation is typically in the form of a P-type ILC. The learning gain is applied as a 1-dimension or first-order ILC [28], [29]. A dual design iterative learning control (Dual design ILC) [30], which has an idea from the previous works.…”

Section: Introductionmentioning

confidence: 99%

Dual Design PID Controller for Robotic Manipulator Application

Chotikunnan

2023

Journal of Robotics and Control

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This research introduces a dual design proportional–integral–derivative (PID) controller architecture process that aims to improve system performance by reducing overshoot and conserving electrical energy. The dual design PID controller uses real-time error and one-time step delay to adjust the confidence weights of the controller, leading to improved performance in reducing overshoot and saving electrical energy. To evaluate the effectiveness of the dual design PID controller, experiments were conducted to compare it with the PID controller using least overshoot tuning by Chien–Hrones–Reswick (CHR) technique. The results showed that the dual design PID controller was more effective at reducing overshoot and saving electrical energy. A case study was also conducted as part of this research, and it demonstrated that the system performed better when using the dual design PID controller. Overshoot and electrical energy consumption are common issues in systems that can impact performance, and the dual design PID controller architecture process provides a solution to these issues by reducing overshoot and saving electrical energy. The dual design PID controller offers a new technique for addressing these issues and improving system performance. In summary, this research presents a new technique for addressing overshoot and electrical energy consumption in systems through the use of a dual design PID controller. The dual design PID controller architecture process was found to be an effective solution for reducing overshoot and saving electrical energy in systems, as demonstrated by the experiments and case study conducted as part of this research. The dual design PID controller presents a promising solution for improving system performance by addressing the issues of overshoot and electrical energy consumption.

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Iterative learning control for one‐sided Lipschitz nonlinear singular conformable differential equations

Cited by 7 publications

References 39 publications

Composite adaptive backstepping controller for variable speed rotating scan optical spacecraft

Composite adaptive backstepping controller for variable speed rotating scan optical spacecraft

Adaptive Parallel Iterative Learning Control with A Time-Varying Sign Gain Approach Empowered by Expert System

Dual Design PID Controller for Robotic Manipulator Application

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