Cenceschi, Lorenzo und Angelini, Franco und Della Santina, Cosimo und Bicchi, Antonio (2022) PIσ - PIσ Continuous Iterative Learning Control for Nonlinear Systems with Arbitrary Relative Degree. In: 2021 European Control Conference, ECC 2021, Seite 1042. IEEE. 2021 European Control Conference, ECC 2021, 2021-06-29 - 2021-07-02, Delft (virtual). doi: 10.23919/ECC54610.2021.9655196. ISBN 978-946384236-5.
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Offizielle URL: https://dx.doi.org/10.23919/ECC54610.2021.9655196
Kurzfassung
Online-Offline Iterative Learning Control provides an effective and robust solution to learn precise trajectory tracking when dealing with repetitive tasks. Yet, these algorithms were developed under the assumption that the relative degree between input and output is one. This prevents applications in many practically meaningful situations - e.g. mechanical systems control. To overcome this issue, this manuscript proposes a PIσ - PIσ algorithm fusing information from the whole visible dynamics. We provide sufficient convergence conditions when the controlled system has a generic constant relative degree, and it is possibly subject to measurement delay. The controller is validated on several simulation scenarios, including learning to swing-up a soft pendulum.
elib-URL des Eintrags: | https://elib.dlr.de/193628/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | PIσ - PIσ Continuous Iterative Learning Control for Nonlinear Systems with Arbitrary Relative Degree | ||||||||||||||||||||
Autoren: |
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Datum: | 3 Januar 2022 | ||||||||||||||||||||
Erschienen in: | 2021 European Control Conference, ECC 2021 | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||
DOI: | 10.23919/ECC54610.2021.9655196 | ||||||||||||||||||||
Seitenbereich: | Seite 1042 | ||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||
ISBN: | 978-946384236-5 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Iterative Learning Control | ||||||||||||||||||||
Veranstaltungstitel: | 2021 European Control Conference, ECC 2021 | ||||||||||||||||||||
Veranstaltungsort: | Delft (virtual) | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 29 Juni 2021 | ||||||||||||||||||||
Veranstaltungsende: | 2 Juli 2021 | ||||||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Roboterdynamik & Simulation [RO] | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||
Hinterlegt von: | Strobl, Dr. Klaus H. | ||||||||||||||||||||
Hinterlegt am: | 27 Jan 2023 14:46 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:54 |
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