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Non-fragile Iterative Learning Control

Author: ZouDaWei
Tutor: LiJunMin
School: Xi'an University of Electronic Science and Technology
Course: Operational Research and Cybernetics
Keywords: Iterative Learning Control Non - fragile control Iteration domain Linear matrix inequalities
CLC: TP13
Type: Master's thesis
Year: 2009
Downloads: 42
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Abstract


Learning is the main form of human access to knowledge , significant signs of intelligent human is human basic way to improve the level of intelligence . Thus , learning is also important attributes of intelligent control . For a system , if a process or the inherent information of the position characteristics of the environment for learning , and the experience gained for further estimation , classification , decision, or control , so that the performance of the system is improved , then said the system is a learning system . The control system also has a learning function called learning control system . Iterative learning control is also a state-of-the-art control method applicable object such as industrial robots with repetitive motion nature of the controlled system , and its goal is to achieve full tracking task on a finite interval . Iterative learning process , the learning controller hardware , software , and other reasons , there are certain controller parameters change , uncertainty appears . Such uncertainty will cause the decline in the performance of the closed - loop system , so that the system can not be a good target tracking . However , uncertainty iterative learning controller contains few studies . Non - fragile control is an effective method of processing controller contains uncertainty , its purpose is to design a non-fragile controller makes the closed-loop system is stable , and to meet certain performance , this is the main work , as follows: study discrete linear time-varying systems of non- fragile guaranteed cost iterative learning control and its optimization problems . Based on the the iteration domain performance function and LMI method for the controller has not deterministic addition and multiplication of uncertainty both cases , non- fragile guaranteed cost iterative learning controller design method and its optimization . The robust non - fragile guaranteed cost of discrete linear time-invariant systems Iterative learning control and its optimization problems . Learning controller parameter uncertainty and uncertainty taking into account the discrete linear time-invariant system parameters , based on the the iteration domain performance function and LMI method for controller with additive uncertainty and multiplicative uncertainty two case , iterative learning controller design method of robust non- fragile guaranteed cost optimization .

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