Volume 37, Number 5, October 2019
|Page(s)||1077 - 1084|
|Published online||14 January 2020|
Optimal Gains of Iterative Learning Control with Forgetting Factor
School of Mechanical&Electronical Engineering, Lanzhou University of Technology, Lanzhou 730050, China
In order to solve the optimization problems of convergence characteristics of a class of single-input single-output (SISO) discrete linear time-varying systems (LTI) with time-iteration-varying disturbances, an optimal control gain design method of PID type iterative learning control (ILC) algorithm with forgetting factor was presented. The necessary and sufficient condition for the ILC system convergence was obtained based on iterative matrix theory. The convergence of the learning algorithm was proved based on operator theory. According to optimization theory and Toeplitz matrix characteristics, the monotonic convergence condition of the system was established. The accurate solution of the optimal control gain and the relationship equation between the forgetting factor and the optimal control gains were obtained according to the optimal theory which ensures the fastest system convergence speed, thereby reaching the end of the system convergence improvement. The convergence condition is weaker than the known results. The proposed method overcomes the shortcomings of traditional optimal control gain in ILC algorithm with forgetting factor, effectively accelerates the system convergence speed, suppresses the system output track error fluctuation, and provides a better solution for LTI system with time-iteration-varying disturbances. Simulation verifies the effectiveness of the control algorithm.
Key words: iterative learning control (ILC) / forgetting factor / optimal control gains / time-iteration-varying disturbances / convergence speed / simulation / algorithms / convergence condition
关键字 : 迭代学习控制 / 遗忘因子 / 最优控制增益 / 非严格重复扰动 / 收敛速度
© 2019 Journal of Northwestern Polytechnical University. All rights reserved.
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