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Iterative Learning in Functional Space for Non-Square Linear Systems

Della Santina, Cosimo and Angelini, Franco (2022) Iterative Learning in Functional Space for Non-Square Linear Systems. In: 60th IEEE Conference on Decision and Control, CDC 2021, pp. 5858-5863. IEEE. 2021 60th IEEE Conference on Decision and Control (CDC), 2021-12-14 - 2021-12-17, Austin, TX, USA. doi: 10.1109/CDC45484.2021.9683673. ISBN 978-166543659-5. ISSN 0191-2216.

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Official URL: https://dx.doi.org/10.1109/CDC45484.2021.9683673


Many control problems are naturally expressed in continuous time. Yet, in Iterative Learning Control of linear systems, sampling the output signal has proven to be a convenient strategy to simplify the learning process while sacrificing only marginally the overall performance. In this context, the control action is similarly discretized through zero-order hold - thus leading to a discrete-time system. With this paper, we want to investigate an alternative strategy, which is to track sampled outputs without masking the continuous nature of the input. Instead, we look at the whole input evolution as an element of a functional subspace. We show how standard results in linear Iterative Learning Control naturally extend to this context. As a result, we can leverage the infinite-dimensional nature of functional spaces to achieve exact tracking of strongly non-square systems (number of inputs less than outputs). We also show that constraints - like those imposed by intermittent control - can be naturally integrated within this framework.

Item URL in elib:https://elib.dlr.de/193633/
Document Type:Conference or Workshop Item (Speech)
Title:Iterative Learning in Functional Space for Non-Square Linear Systems
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Della Santina, CosimoUNSPECIFIEDhttps://orcid.org/0000-0003-1067-1134UNSPECIFIED
Angelini, FrancoUniversità di PisaUNSPECIFIEDUNSPECIFIED
Date:1 February 2022
Journal or Publication Title:60th IEEE Conference on Decision and Control, CDC 2021
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 5858-5863
Keywords:linear systems
Event Title:2021 60th IEEE Conference on Decision and Control (CDC)
Event Location:Austin, TX, USA
Event Type:international Conference
Event Start Date:14 December 2021
Event End Date:17 December 2021
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Strobl, Dr. Klaus H.
Deposited On:27 Jan 2023 14:49
Last Modified:24 Apr 2024 20:54

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