Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design of an iterative learning controller for a class of linear dynamic systems with time-delay

시간 지연이 있는 선형 시스템에 대한 반복 학습 제어기의 설계

  • Park, Kwang-Hyun (Dept. of Electrical Electronic Engineering, Korea Advanced Institute of Science and Technology) ;
  • Bien, Zeung-Nam (Dept. of Electrical Electronic Engineering, Korea Advanced Institute of Science and Technology) ;
  • Hwang, Dong-Hwan (Dept. of Electronic Engineering, Chungnam National University)
  • 박광현 (한국과학기술원 전기 및 전자공학과) ;
  • 변증남 (한국과학기술원 전기 및 전자공학과) ;
  • 황동환 (충남대학교 전자공학과)
  • Published : 1998.06.01
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Abstract

In this paper, we point out the possibility of the divergence of control input caused by the estimation error of delay-time when general iterative learning algorithms are applied to a class of linear dynamic systems with time-delay in which delay-time is not exactly measurable, and then propose a new type of iterative learning algorithm in order to solve this problem. To resolve the uncertainty of delay-time, we propose an algorithm using holding mechanism which has been used in digital control system and/or discrete-time control system. The control input is held as constant value during the time interval of which size is that of the delay-time uncertainty. The output of the system tracks a given desired trajectory at discrete points which are spaced auording to the size of uncertainty of delay-time with the robust property for estimation error of delay-time. Several numerical examples are given to illustrate the effeciency of the proposed algorithm.

Keywords

References

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