Journal of Advanced Marine Engineering and Technology

The Korean Society of Marine Engineering (한국마린엔지니어링학회)
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Optimal iterative learning control with model uncertainty

  • Le, Dang Khanh (Department of Marine Engineering, Mokpo Maritime University) ;
  • Nam, Taek-Kun (Division of Marine Engineering, Mokpo Maritime University)
  • Received : 2013.11.06
  • Accepted : 2013.11.29
  • Published : 2013.11.30
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Abstract

In this paper, an approach to deal with model uncertainty using norm-optimal iterative learning control (ILC) is mentioned. Model uncertainty generally degrades the convergence and performance of conventional learning algorithms. To deal with model uncertainty, a worst-case norm-optimal ILC is introduced. The problem is then reformulated as a convex minimization problem, which can be solved efficiently to generate the control signal. The paper also investigates the relationship between the proposed approach and conventional norm-optimal ILC; where it is found that the suggested design method is equivalent to conventional norm-optimal ILC with trial-varying parameters. Finally, simulation results of the presented technique are given.

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References

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