Regular Papers

International Journal of Control, Automation and Systems 2017; 15(1): 315-328

Published online January 19, 2017

https://doi.org/10.1007/s12555-016-0049-z

© The International Journal of Control, Automation, and Systems

Adaptive Iterative Learning Controller with Input Learning Technique for a Class of Uncertain MIMO Nonlinear Systems

Minsung Kim , Tae-Yong Kuc, Hyosin Kim and Jin S. Lee

POSTECH

Abstract

In this paper, an adaptive iterative learning controller (AILC) with input learning technique is presented for uncertain multi-input multi-output (MIMO) nonlinear systems in the normal form. The proposed AILC learns the internal parameter of the state equation as well as the input gain parameter, and also estimates the desired input using an input learning rule to track the whole history of command trajectory. The features of the proposed control scheme can be briefly summarized as follows: 1) To the best of authors’ knowledge, the AILC with input learning is first developed for uncertain MIMO nonlinear systems in the normal form; 2) The convergence of learning input error is ensured; 3) The input learning rule is simple; therefore, it can be easily implemented in industrial applications. With the proposed AILC scheme, the tracking error and desired input error converge to zero as the repetition of the learning operation increases. Single-link and two-link manipulators are presented as simulation examples to confirm the feasibility and performance of the proposed AILC.

Keywords Adaptive control, iterative learning control, multi-input multi-output systems, nonlinear systems, robot manipulators, uncertain systems.

Article

Regular Papers

International Journal of Control, Automation and Systems 2017; 15(1): 315-328

Published online February 1, 2017 https://doi.org/10.1007/s12555-016-0049-z

Copyright © The International Journal of Control, Automation, and Systems.

Adaptive Iterative Learning Controller with Input Learning Technique for a Class of Uncertain MIMO Nonlinear Systems

Minsung Kim , Tae-Yong Kuc, Hyosin Kim and Jin S. Lee

POSTECH

Abstract

In this paper, an adaptive iterative learning controller (AILC) with input learning technique is presented for uncertain multi-input multi-output (MIMO) nonlinear systems in the normal form. The proposed AILC learns the internal parameter of the state equation as well as the input gain parameter, and also estimates the desired input using an input learning rule to track the whole history of command trajectory. The features of the proposed control scheme can be briefly summarized as follows: 1) To the best of authors’ knowledge, the AILC with input learning is first developed for uncertain MIMO nonlinear systems in the normal form; 2) The convergence of learning input error is ensured; 3) The input learning rule is simple; therefore, it can be easily implemented in industrial applications. With the proposed AILC scheme, the tracking error and desired input error converge to zero as the repetition of the learning operation increases. Single-link and two-link manipulators are presented as simulation examples to confirm the feasibility and performance of the proposed AILC.

Keywords: Adaptive control, iterative learning control, multi-input multi-output systems, nonlinear systems, robot manipulators, uncertain systems.

IJCAS
November 2024

Vol. 22, No. 11, pp. 3253~3544

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