非线性迭代学习控制和重复控制的设计框架：应用于三个机电一体化案例研究

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2024-05-30 DOI:10.1016/j.conengprac.2024.105976

Leontine Aarnoudse , Alexey Pavlov , Tom Oomen

{"title":"非线性迭代学习控制和重复控制的设计框架：应用于三个机电一体化案例研究","authors":"Leontine Aarnoudse , Alexey Pavlov , Tom Oomen","doi":"10.1016/j.conengprac.2024.105976","DOIUrl":null,"url":null,"abstract":"<div><p>Iterative learning control (ILC) and repetitive control (RC) can lead to high performance by attenuating repeating disturbances perfectly, yet these approaches may amplify non-repeating disturbances. The aim of this paper is to achieve both perfect, fast attenuation of repeating disturbances and limited amplification of non-repeating disturbances. This is achieved by including a deadzone nonlinearity in the learning filter, which distinguishes disturbances based on their different amplitudes to apply different learning gains. Convergence conditions for nonlinear ILC and RC are developed, which are used in combination with system measurements in a comprehensive design procedure. Experimental implementation demonstrates fast learning and small errors.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":5.4000,"publicationDate":"2024-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0967066124001369/pdfft?md5=ada70ca66f66936a451cb2e51900c1ba&pid=1-s2.0-S0967066124001369-main.pdf","citationCount":"0","resultStr":"{\"title\":\"A design framework for nonlinear iterative learning control and repetitive control: Applied to three mechatronic case studies\",\"authors\":\"Leontine Aarnoudse , Alexey Pavlov , Tom Oomen\",\"doi\":\"10.1016/j.conengprac.2024.105976\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>Iterative learning control (ILC) and repetitive control (RC) can lead to high performance by attenuating repeating disturbances perfectly, yet these approaches may amplify non-repeating disturbances. The aim of this paper is to achieve both perfect, fast attenuation of repeating disturbances and limited amplification of non-repeating disturbances. This is achieved by including a deadzone nonlinearity in the learning filter, which distinguishes disturbances based on their different amplitudes to apply different learning gains. Convergence conditions for nonlinear ILC and RC are developed, which are used in combination with system measurements in a comprehensive design procedure. Experimental implementation demonstrates fast learning and small errors.</p></div>\",\"PeriodicalId\":50615,\"journal\":{\"name\":\"Control Engineering Practice\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":5.4000,\"publicationDate\":\"2024-05-30\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://www.sciencedirect.com/science/article/pii/S0967066124001369/pdfft?md5=ada70ca66f66936a451cb2e51900c1ba&pid=1-s2.0-S0967066124001369-main.pdf\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Control Engineering Practice\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0967066124001369\",\"RegionNum\":2,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Control Engineering Practice","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0967066124001369","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}

引用次数: 0

摘要

迭代学习控制（ILC）和重复控制（RC）可以完美地衰减重复干扰，从而实现高性能，但这些方法可能会放大非重复干扰。本文旨在实现对重复干扰的完美、快速衰减和对非重复干扰的有限放大。实现这一目标的方法是在学习滤波器中加入死区非线性，根据不同的振幅区分干扰，从而应用不同的学习增益。开发了非线性 ILC 和 RC 的收敛条件，并在综合设计程序中与系统测量相结合使用。实验结果表明，学习速度快，误差小。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

A design framework for nonlinear iterative learning control and repetitive control: Applied to three mechatronic case studies

Iterative learning control (ILC) and repetitive control (RC) can lead to high performance by attenuating repeating disturbances perfectly, yet these approaches may amplify non-repeating disturbances. The aim of this paper is to achieve both perfect, fast attenuation of repeating disturbances and limited amplification of non-repeating disturbances. This is achieved by including a deadzone nonlinearity in the learning filter, which distinguishes disturbances based on their different amplitudes to apply different learning gains. Convergence conditions for nonlinear ILC and RC are developed, which are used in combination with system measurements in a comprehensive design procedure. Experimental implementation demonstrates fast learning and small errors.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.