Please use this identifier to cite or link to this item: https://doi.org/10.1109/9.746269
Title: An iterative learning controller with initial state learning
Authors: Chen, Y. 
Wen, C.
Gong, Z.
Sun, M.
Keywords: Learning control
Reinitialization error
Repetitive systems
Tracking control
Uncertainty nonlinear systems
Issue Date: 1999
Source: Chen, Y., Wen, C., Gong, Z., Sun, M. (1999). An iterative learning controller with initial state learning. IEEE Transactions on Automatic Control 44 (2) : 371-376. ScholarBank@NUS Repository. https://doi.org/10.1109/9.746269
Abstract: In iterative learning control (ILC), a common assumption is that the initial states in each repetitive operation should be inside a given ball centered at the desired initial states which may be unknown. This assumption is critical to the stability analysis, and the size of the ball will directly affect the final output trajectory tracking errors. In this paper, this assumption is removed by using an initial state learning scheme together with the traditional D-type ILC updating law. Both linear and nonlinear time-varying uncertain systems are investigated. Uniform bounds for the final tracking errors are obtained and these bounds are only dependent on the system uncertainties and disturbances, yet independent of the initial errors. Furthermore, the desired initial states can be identified through learning iterations.
Source Title: IEEE Transactions on Automatic Control
URI: http://scholarbank.nus.edu.sg/handle/10635/61812
ISSN: 00189286
DOI: 10.1109/9.746269
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