Robust iterative learning control synthesized with sliding-mode control for output tracking

Wen Chen, Chih-Ping Yeh, Yang-Quan Chen
2011 IEEE Conference on Decision and Control and European Control Conference  
This paper is to propose a new design of Iterative learning Control (ILC) for the purpose of output tracking. The novelty lies in the synthesis of ILC with sliding-mode control such that the tracking performance and accuracy can be improved. The considered system is first transformed into two subsystems such that the new design can be applied to broad systems. Based on the transformed systems, an ILC is designed for the first-order derivative of the control signal, instead of the control signal
more » ... itself. The variable structure functions are therefore integrated such that the chattering can be eliminated accordingly. The convergence of the output-tracking error is also proved. The effectiveness of the new ILC for output tracking is verified in a simulation study.
doi:10.1109/cdc.2011.6160762 dblp:conf/cdc/ChenYC11 fatcat:enu6qqpjhzejnmtavj2d5nwfui