Journal of Advanced Marine Engineering and Technology

The Korean Society of Marine Engineering (한국마린엔지니어링학회)
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Improvement of trajectory tracking control performance by using ILC

  • Le, Dang-Khanh (Department of Marine Engineering, Mokpo National Maritime University) ;
  • Nam, Taek-Kun (Division of Marine Engineering, Mokpo National Maritime University)
  • Received : 2014.09.02
  • Accepted : 2014.11.20
  • Published : 2014.12.31
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Abstract

This paper presents an iterative learning control (ILC) approach for tracking problems with specified data points that are desired points at certain time instants. To design ILC systems for such problems, unlike traditional ILC approaches, an algorithm which updates not only the control signal but also the reference trajectory at each trial will be developed. The relationship between the reference trajectory and ILC control in tracking problems where there are specified data points through which the system should pass is investigated as the rate of convergence. In traditional ILC, the desired data is stored in a tracking profile file. Due to the huge size of the data file containing the target points, it is important to reduce the computational cost. Finally, simulation results of the presented technique are mentioned and compared to other related works to confirm the effectiveness of proposed scheme.

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References

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