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首页> 外文会议>2002 ASME International Mechanical Engineering Congress and Exposition , Nov 17-22, 2002, New Orleans, Louisiana >AN EXPERIMENTAL STUDY FOR AN ITERATIVE LEARNING CONTROL SCHEME WITH ADAPTIVE FILTERING
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AN EXPERIMENTAL STUDY FOR AN ITERATIVE LEARNING CONTROL SCHEME WITH ADAPTIVE FILTERING

机译：自适应滤波的迭代学习控制方案的实验研究

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摘要

This paper presents experimental investigations into a novel approach which circumvents a classic tradeoff between robustness and performance in Iterative Learning Control. The tradeoff is usually performed by designing an appropriate filtering mechanism to compensate for non-perfect resetting and noise. Time-Frequency analysis is used to examine the frequency content of error signals over the compact time support of the reference signal. This then allows the filter to effectively change its bandwidth as a function of time thereby allowing high frequency system dynamics to enter into the learning process at the appropriate time instants. At the same time, robustness is maintained by reducing the bandwidth of the filter when the system dynamics do not exhibit high frequency characteristics so as to attenuate the effect of noise on the learning stability. This adaptive Q-filter Iterative Learning Controller is needed for systems that have non-smooth nonlinearities and the advantages are demonstrated here in the simulations and experiments. A specially designed experimental study shows the fundamental limits that can affect its effectiveness.
机译：本文提出了对一种新颖方法的实验研究，该方法规避了迭代学习控制中鲁棒性和性能之间的经典权衡。通常通过设计适当的滤波机制来补偿非完美的复位和噪声来进行权衡。时频分析用于在参考信号的紧凑时间支持内检查误差信号的频率内容。然后，这允许滤波器根据时间有效地改变其带宽，从而允许高频系统动力学在适当的时刻进入学习过程。同时，当系统动力学不表现出高频特性时，通过减小滤波器的带宽来保持鲁棒性，从而减弱噪声对学习稳定性的影响。对于具有非平滑非线性的系统，需要此自适应Q滤波器迭代学习控制器，并在仿真和实验中证明了其优势。专门设计的实验研究显示了可能影响其有效性的基本限制。

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