Journal of Advanced Marine Engineering and Technology

The Korean Society of Marine Engineering (한국마린엔지니어링학회)
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A study on the optimal tracking problems with predefined data by using iterative learning control

  • Le, Dang-Khanh (Department of Marine Engineering, Mokpo National Maritime University) ;
  • Le, Dang-Phuong (Department of Marine Engineering, Mokpo National Maritime University) ;
  • Nam, Taek-Kun (Division of Control Engineering, Mokpo National Maritime University)
  • Received : 2014.10.27
  • Accepted : 2014.12.12
  • Published : 2014.12.31
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Abstract

In this paper, we present an iterative learning control (ILC) framework for tracking problems with predefined data points that are desired points at certain time instants. To design ILC systems for such problems, a new ILC scheme is proposed to produce output curves that pass close to the desired points. Unlike traditional ILC approaches, an algorithm will be developed in which the control signals are generated by solving an optimal ILC problem with respect to the desired sampling points. In another word, it is a direct approach for the multiple points tracking ILC control problem where we do not need to divide the tracking problem into two steps separately as trajectory planning and ILC controller.The strength of the proposed formulation is the methodology to obtain a control signal through learning law only considering the given data points and dynamic system, instead of following the direction of tracking a prior identified trajectory. The key advantage of the proposed approach is to significantly reduce the computational cost. Finally, simulation results will be introduced to confirm the effectiveness of proposed scheme.

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References

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