期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 67, 期 4, 页码 3116-3125出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2019.2910034
关键词
Data-driven approach; iterative learning control; model predictive control; robust
资金
- National Natural Science Foundation of China [61333009, 61590924, 61573239, 61433002, 61633006]
- Hong Kong Research Grant Council [GRF612512]
The iterative learning control (ILC) combining with model predictive control (ILC-MPC) is an effective control method for constrained batch processes. However, in real applications, model uncertainty usually makes it slow for the controlled process to converge to the reference trajectory. To eliminate the restrictions in previous works, a data-driven approach is proposed, which directly describes the relationship between inputs and outputs according to the past data. Based on this method, a novel data-driven ILC-MPC controller is proposed, where the two-mode framework and the invariant updating strategy are employed to guarantee the convergence. Since the outputs caused by model uncertainty are partly known from the past data, better performance can be achieved by the proposed design which is verified by experimental studies on a manipulator.
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