Iterative learning control method based on dynamic controller

• Main Authors: WU AIGUO, CHANG MINGFANG
• Format: Patent
• Language: Chinese; English
• Published: 25.10.2019
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

The invention proposes an iterative learning control method based on a dynamic controller, belonging to the field of control science and engineering. For a general nonlinear difference system, the invention gives a method for constructing an iterative learning dynamic controller, and then the dynamic gain of the controller is estimated according to a gradient descent method and a dynamic gain estimation expression is obtained. Since an exact model of a controlled system is complex or unknown, a real value of a system pseudo partial derivative (PPD) in the controller dynamic gain estimation expression cannot be obtained, and an estimated value of the PPD in a pseudo-gradient (PG) estimation expression is extracted for numerical value substitution. In this way, a model-free iterative learning control algorithm that can be run is generated. Finally, an example is given to demonstrate that the numerical simulation of the algorithm in a nonlinear system and a picking and placing robot system is effective. Therefor