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Multi-System Iterative Learning Control: an Extension of ILC for Interconnected Systems

Book Contribution - Book Chapter Conference Contribution

This paper presents an extension of iterative leanring control (ILC) towards multiple systems, the Multi-System Iterative Learning Control (MSILC) approach, by means of estimation of a common model correction and a system-specific model correction. The proposed method is theoretically analyzed and categorized in the field of linear ILC through the filter-based framework. A software implementation for generic nonlinear system is provided. To demonstrate and present the efficacy of the approach, a numerical study of a fleet of positioning stages, affected by iteration-varying disturbances and executing the same task, is performed. The results show the benefits of the presented algorithm that trade-off between a single-system and common norm-optimal update law.
Book: 2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)
Pages: 79 - 84
Number of pages: 6
ISBN:978-1-7281-3189-4
Publication year:2020
BOF-keylabel:yes
IOF-keylabel:yes
Authors from:Higher Education
Accessibility:Closed