Data-Driven ILC for Trajectory Tracking in Nonlinear Dynamic Systems

IF 1 Q4 AUTOMATION & CONTROL SYSTEMS

Mechatronic Systems and Control Pub Date : 2019-11-26 DOI:10.1115/dscc2019-8926

Yu-Hsiu Lee, T. Tsao

引用次数: 2

Abstract

The aim of this work is to propose a data-driven ILC algorithm that features fast convergence for nonlinear dynamic systems. This idea utilizes adaptive filtering that implicitly identifies the time-varying system inverse along the trajectory being tracked. By feeding the error signal through the copied inverse filter, it results in a rapidly convergent inversion-based ILC. This approach is compared to a nonlinear extension of the data-driven ILC that uses system adjoint as the learning filter. The developed algorithm is validated through simulation on a fully actuated 2 DOF Furuta pendulum.

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非线性动态系统中轨迹跟踪的数据驱动ILC

本文的目的是提出一种数据驱动的非线性动态系统快速收敛的ILC算法。这个想法利用自适应滤波，隐式地识别时变系统逆沿着被跟踪的轨迹。通过将误差信号通过复制的逆滤波器馈送，实现了快速收敛的基于逆的ILC。将这种方法与使用系统伴随作为学习滤波器的数据驱动ILC的非线性扩展进行了比较。通过全驱动二自由度古田摆的仿真验证了该算法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronic Systems and Control AUTOMATION & CONTROL SYSTEMS-

CiteScore

1.40

自引率

66.70%

发文量

期刊介绍： This international journal publishes both theoretical and application-oriented papers on various aspects of mechatronic systems, modelling, design, conventional and intelligent control, and intelligent systems. Application areas of mechatronics may include robotics, transportation, energy systems, manufacturing, sensors, actuators, and automation. Techniques of artificial intelligence may include soft computing (fuzzy logic, neural networks, genetic algorithms/evolutionary computing, probabilistic methods, etc.). Techniques may cover frequency and time domains, linear and nonlinear systems, and deterministic and stochastic processes. Hybrid techniques of mechatronics that combine conventional and intelligent methods are also included. First published in 1972, this journal originated with an emphasis on conventional control systems and computer-based applications. Subsequently, with rapid advances in the field and in view of the widespread interest and application of soft computing in control systems, this latter aspect was integrated into the journal. Now the area of mechatronics is included as the main focus. A unique feature of the journal is its pioneering role in bridging the gap between conventional systems and intelligent systems, with an equal emphasis on theory and practical applications, including system modelling, design and instrumentation. It appears four times per year.