대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
- /
- Pages.297-298
- /
- 2007
불확실한 초기치를 갖는 반복시스템에 대한 유한구간 추종제어
Finite-horizon Tracking Control for Repetitive Systems with Uncertain Initial Condition
- 최윤종 (포항공과대학교 전자전기공학과) ;
- 윤성욱 (포항공과대학교 전자전기공학과) ;
- 이창희 (포항공과대학교 전자전기공학과) ;
- 조재영 (포항공과대학교 전자전기공학과) ;
-
박부견
(포항공과대학교 전자전기공학과)
- Choi, Yun-Jong (Electrical and Computer Engineering Division, Pohang University of Science and Technology) ;
- Yun, Sung-Wook (Electrical and Computer Engineering Division, Pohang University of Science and Technology) ;
- Lee, Chang-Hee (Electrical and Computer Engineering Division, Pohang University of Science and Technology) ;
- Cho, Jae-Young (Electrical and Computer Engineering Division, Pohang University of Science and Technology) ;
-
Park, Poo-Gyeon
(Electrical and Computer Engineering Division, Pohang University of Science and Technology)
- 발행 : 2007.10.26
초록
Repetitive systems stand for a kind of systems that perform a simple task on a fixed pattern repetitively and are widely spread in industrial fields. Hence, those systems have been of much interests by many researchers, especially in the field of iterative learning control (ILC). In this paper, we propose a finite-horizon tracking control scheme for linear time-varying repetitive systems with uncertain initial conditions. The scheme is derived both analytically and numerically for state-feedback systems and only numerically for output-feedback systems. Then, it is extended to stable systems with input constraints. All numerical schemes are developed in the forms of linear matrix inequalities. A distinguished feature of the proposed scheme from the existing iterative learning control is that the scheme guarantees the tracking performance exactly even under uncertain initial conditions. The simulation results demonstrate the good performance of the proposed scheme.
키워드