2 research outputs found
Control Analysis and Synthesis of Data-Driven Learning: A Kalman State-Space Approach
This paper aims to deal with the control analysis and synthesis problem of
data-driven learning, regardless of unknown plant models and iteration-varying
uncertainties. For the tracking of any desired target, a Kalman state-space
approach is presented to transform it into two robust stability problems, which
bridges a connection between data-driven control and model-based control. This
approach also makes it possible to employ the extended state observer (ESO) in
the design of data-driven learning to overcome the effect of iteration-varying
uncertainties. It is shown that ESO-based data-driven learning ensures
model-free systems to achieve the tracking of any desired target. In
particular, our results apply to iterative learning control, which is verified
by an example.Comment: Submitte
Optimization-Based Learning Control for Nonlinear Time-Varying Systems
Learning to perform perfect tracking tasks based on measurement data is
desirable in the controller design of systems operating repetitively. This
motivates the present paper to seek an optimization-based design approach for
iterative learning control (ILC) of repetitive systems with unknown nonlinear
time-varying dynamics. It is shown that perfect output tracking can be realized
with updating inputs, where no explicit model knowledge but only measured
input/output data are leveraged. In particular, adaptive updating strategies
are proposed to obtain parameter estimations of nonlinearities. A
double-dynamics analysis approach is applied to establish ILC convergence,
together with boundedness of input, output, and estimated parameters, which
benefits from employing properties of nonnegative matrices. Moreover, robust
convergence is explored for optimization-based adaptive ILC in the presence of
nonrepetitive uncertainties. Simulation tests are also implemented to verify
the validity of our optimization-based adaptive ILC.Comment: Submitte