Parameter-dependent Lyapunov function-based robust iterative learning control for discrete systems with actuator faults
Jian Ding
Institute of Control Technology, Wuxi Institute of Technology, Wuxi, 214122 China
Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education), Jiangnan University, Wuxi, 214122 China
Search for more papers by this authorBlazej Cichy
Institute of Control and Computation Engineering, University of Zielona Gora, ul. Podgorna 50, Zielona Gora, 65-246 Poland
Search for more papers by this authorCorresponding Author
Krzysztof Galkowski
Institute of Control and Computation Engineering, University of Zielona Gora, ul. Podgorna 50, Zielona Gora, 65-246 Poland
Correspondence to: Krzysztof Galkowski, Institute of Control and Computation Engineering, University of Zielona Gora, ul. Podgorna 50, 65-246 Zielona Gora, Poland.
E-mail: [email protected]
Search for more papers by this authorEric Rogers
Department of Electronics and Computer Science, University of Southampton, Southampton SO17 1BJ, UK
Search for more papers by this authorHuizhong Yang
Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education), Jiangnan University, Wuxi, 214122 China
Search for more papers by this authorJian Ding
Institute of Control Technology, Wuxi Institute of Technology, Wuxi, 214122 China
Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education), Jiangnan University, Wuxi, 214122 China
Search for more papers by this authorBlazej Cichy
Institute of Control and Computation Engineering, University of Zielona Gora, ul. Podgorna 50, Zielona Gora, 65-246 Poland
Search for more papers by this authorCorresponding Author
Krzysztof Galkowski
Institute of Control and Computation Engineering, University of Zielona Gora, ul. Podgorna 50, Zielona Gora, 65-246 Poland
Correspondence to: Krzysztof Galkowski, Institute of Control and Computation Engineering, University of Zielona Gora, ul. Podgorna 50, 65-246 Zielona Gora, Poland.
E-mail: [email protected]
Search for more papers by this authorEric Rogers
Department of Electronics and Computer Science, University of Southampton, Southampton SO17 1BJ, UK
Search for more papers by this authorHuizhong Yang
Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education), Jiangnan University, Wuxi, 214122 China
Search for more papers by this authorSummary
This paper considers iterative learning control for a class of uncertain multiple-input multiple-output discrete linear systems with polytopic uncertainties and actuator faults. The stability theory for linear repetitive processes is used to develop control law design algorithms that can be computed using linear matrix inequalities. A class of parameter-dependent Lyapunov functions is used with the aim of enlarging the allowed polytopic uncertainty range for successful design. The effectiveness and feasibility of the new design algorithms are illustrated by a gantry robot case study. Copyright © 2016 John Wiley & Sons, Ltd.
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