White Rose University Consortium logo
University of Leeds logo University of Sheffield logo York University logo

Limit sets and switching strategies in parameter-optimal iterative learning control

Owens, D.H., Tomas-Rodriguez, M. and Daley, S. (2007) Limit sets and switching strategies in parameter-optimal iterative learning control. Research Report. ACSE Research Report no. 943 . Automatic Control and Systems Engineering, University of Sheffield

Full text available as:
[img]
Preview
Text
943.pdf

Download (439Kb)

Abstract

This paper characterizes the existence and form of the possible limit error signals in typical parameter-optimal Iterative Learning Control. The set of limit errors has attracting and repelling components and the behaviour of the algorithm in the vicinity of these sets can be associated with the undesirable properties of apparent (but in fact temporary) convergence or permanent slow convergence properties in practice. The avoidance of these behaviours in practice is investigated using novel switching strategies. Deterministic strategies are analysed to prove the feasibility of the concept by proving that each of a number of such strategies is guaranteed to produce global convergence of errors to zero independent of the details of plant dynamics. For practical applications a random switching strategy is proposed to replace these approaches and shown, by example, to produce substantial potential improvements when compared with the non-switching case. The work described in this paper is covered by pending patent applications in the UK and elsewhere.

Item Type: Monograph (Research Report)
Copyright, Publisher and Additional Information: The Department of Automatic Control and Systems Engineering research reports offer a forum for the research output of the academic staff and research students of the Department at the University of Sheffield. Papers are reviewed for quality and presentation by a departmental editor. However, the contents and opinions expressed remain the responsibility of the authors. Some papers in the series may have been subsequently published elsewhere and you are advised to cite the later published version in these instances.
Keywords: Iterative learning control, robust control, nonlinear control, positive-real systems, switching control, optimization
Institution: The University of Sheffield
Academic Units: The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) > ACSE Research Reports
Depositing User: Miss Anthea Tucker
Date Deposited: 26 Oct 2012 15:26
Last Modified: 23 Jun 2014 21:42
Status: Published
Publisher: Automatic Control and Systems Engineering, University of Sheffield
URI: http://eprints.whiterose.ac.uk/id/eprint/74689

Actions (repository staff only: login required)