Abstract
Time-varying Q-filtering in iterative learning control (ILC) has demonstrated potential performance benefits over time-invariant Q-filtering. In this paper, LTV Q-filtering of ILC is considered for uncertain systems. Sufficient conditions for stability and the important monotonic convergence property are developed for the uncertain system. A class of LTV Q-filters that has particular benefit for rapid motion trajectories is presented, and monotonic convergence conditions are developed. The developed conditions highlight a relationship that the bandwidth can be increased locally and decreased elsewhere to localize high performance at specific times. These conditions are also iteration-length invariant and allow for significant design freedom after analysis enabling online modification of the LTV Q-filter.
| Original language | American English |
|---|---|
| Article number | WeA06.1 |
| Pages (from-to) | 171-177 |
| Number of pages | 7 |
| Journal | Proceedings of the American Control Conference (2005, Portland, OR) |
| DOIs | |
| State | Published - Jan 1 2005 |
| Event | 2005 American Control Conference, ACC - Portland, OR, United States Duration: Jun 8 2005 → Jun 10 2005 |
ASJC Scopus Subject Areas
- Electrical and Electronic Engineering
Keywords
- Bandwidth
- Control systems
- Convergence
- Frequency
- Industrial engineering
- Robustness
- Stability
- TV
- Time varying systems
- Uncertain systems
Disciplines
- Aerospace Engineering
- Mechanical Engineering
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