Browse > Article
http://dx.doi.org/10.9723/jksiis.2011.16.4.099

Multiple-Model Probabilistic Design for Centralized Repetitive Controllers of Multiple Systems  

Lee, Soo-Cheol (대구대학교 자동차산업기계공학부)
Publication Information
Journal of Korea Society of Industrial Information Systems / v.16, no.4, 2011 , pp. 99-105 More about this Journal
Abstract
This paper presents a method to design a centralized repetitive controller that is robust to variations in the multiple system parameters. The uncertain parameters are specified probabilistically by their probability distribution functions. Instead of working with the distribution functions directly, the centralized repetitive controller is designed from a set of models that are generated from the specified probability functions. With this multiple-model design approach, any number of uncertain parameters that follow any type of distribution functions can be treated. Furthermore, the controller is derived by minimizing a frequency-domain based cost function that produces monotonic convergence of the tracking error as a function of repetition number. Numerical illustrations show how the proposed multiple-model design method produces a repetitive controller that is significantly more robust than an optimal repetitive controller designed from a single nominal model of the multiple system.
Keywords
Multiple system; Centralized Repetitive Control; Multiple Model Probabilistic Design; Frequency Domain;
Citations & Related Records
연도 인용수 순위
  • Reference
1 H. Elci, R. W. Longman, M. Q. Phan, J.-N. Juang, and R. Ugoletti, "Simple Learning Control Made Practical by Zero-Phase Filtering: Applications to Robotics," IEEE Transactions on Circuits and Systems.I: Fundamental Theory and Applications, Vol. 49, No.6, 2002, pp. 753-767.   DOI
2 B. G. Dijkstra and O. H. Bosgra, "Extrapolation of Optimal Lifted System ILC Solution with Application to a Waferstage," Proceedings of the American Control Conference, 2002, pp. 2595-2600.
3 K. Moore, "Iterative Learning Control for Deterministic Systems", Springer-Verlag, London, U.K., Advances in Industrial Control, 1993.
4 Z. Bien and J.-X. Xu, "Iterative Learning Control: Analysis, Design, Integration, and Applications", Kluwer Academic Publishers, Boston, 1998.
5 M. Q. Phan, R. W. Longman, and K. L. Moore, "A Unified Formulation of Linear Iterative Learning Control," Advances in the Astronautical Sciences, Vol. 105, 2000.
6 B. Panomruttanarug and R. W. Longman, "Repetitive Controller Design Using Optimization in the Frequency Domain", AlAA/AAS Astrodynamic Spocialist Conference and Exhibit, Providence, Rhode Island, 16-19 August 2004.
7 M. Tomizuka, T.-C. Tsao, and K. .K Chen, "Analysis and Synthesis of Discrete time Repetitive Controllers," Journal of Dynamic Systems, Measurement, and Control, Vol. 111, 1989, pp. 353-358.   DOI
8 R. W. Longman, "Iterative Learning and Repetitive Control for Engineering Practice," International Journal of Control, Special Issue on Iterative Learning Control, Vol. 73, No. 10, July 2000, pp. 930-954.
9 S. Arimoto, S. Kawamura, and F. Miyazaki, "Bettering Operation of Robots by Learning," Journal of Robotic Systems, Vol. 1, No. 2, 1984, pp. 123-140.   DOI
10 K. Takanishi, M. Q. Phan, and R. W. Longman, "Multiple-Model Probabilistic Design of Robust Iterative Learning Controllers," NAMRI 2005, New York, NY, May 2005.
11 S. C. Lee, R. W. Longman, and M. Phan., "Linear Decentralized Learning Control," Paper No. 91-447, Proceedings of the AAS/AlAA Astrodynamics Specialist Conference, Durango, Colorado, Advances in the Astronautical Sciences, 1991.
12 S. C. Lee, "Precision of Itreative Learning Control for the Multiple Dynamic Subsystems," J. of the KSPE, Vol. 18, No.3, pp.131-142, 2001.
13 이수철, "주파수영역에서 반복학습제어기 설계 안정성 해석", 한국산업정보학회논문지, 제12권 제4호, pp. 126-130, 2007.
14 이수철, "연속반복학습제어의 복수모형 확률설계기법", 한국산업정보학회논문지, 제13권 제2호, pp. 1-7, 2008.
15 N. Amman, D. H. Owens, E. Rogers, and A. Wahl, "An H-infinity Approach to Linear Iterative Learning Control Design," International Journal of Adaptive Control and Signal Processing, Vol. 10, pp. 767-781, 1996.   DOI   ScienceOn
16 T. Ishihara, K. Abe, and H. Takeda, "A Discrete-Time Design of Robust Iterative Learning Controllers," IEEE Transactions on Systems, Man, and Cybernetics, Vol. 22. No.1, Jan-Feb 1992.