Journal
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume 67, Issue 10, Pages 8629-8637Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2019.2947838
Keywords
Gaussian distribution; Lead; Time-varying systems; Manipulators; Iterative learning control; Indexes; Iterative learning control (ILC); robot manipulator; stochastic time-varying systems; variable pass lengths
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Funding
- National Natural Science Foundation of China [61973288]
- Natural Science Foundation of Jiangsu Province [BK20191133]
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In this article, the iterative learning control (ILC) problem is investigated for a class of stochastic time-varying systems with variable pass lengths. The randomness of the pass lengths is described by the recursive interval Gaussian distribution, and a modified iteration-average operator is developed to construct the novel ILC scheme for overcoming the limitation of conventional ILC algorithms that every pass must end in a fixed time of duration throughout the repetition. The proposed ILC approach works effectively to guarantee the boundedness of the tracking errors, which is demonstrated by a practical case study on a type of robot manipulator with two joints.
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