Iterative learning control for nonsmooth dynamical systems

Rafael Quintanilla, John T. Wen
2007 2007 46th IEEE Conference on Decision and Control  
In this paper, we consider two approaches to iterative learning control for nonsmooth dynamical systems. If the system is passive, a proportional update law may be applied. For more general dynamical systems, we consider an iterative update algorithm based on a quadratic optimal control problem. The passivity approach does not require model information but is restrictive. The optimal control approach is general, but requires model information for its implementation. A mechanical system with dry
more » ... friction is used as a simulation example for comparison between the two approaches. Convergence is observed in both cases, but much faster convergence time is achieved with the optimal control approach.
doi:10.1109/cdc.2007.4434885 dblp:conf/cdc/QuintanillaW07 fatcat:w2vsqjru5jar5mxen53yuh27mq