Iterative Learning Embedded Model Reference Adaptive Control for Perturbed Nonlinear MIMO Systems

doi:10.1109/CDC49753.2023.10384188

	Iterative Learning Embedded Model Reference Adaptive Control for Perturbed Nonlinear MIMO Systems
	Zhang, Heng; Zhang, Qilong; Liu, Song; Wang, Yang
	2023-12-15
会议录名称	2023 62ND IEEE CONFERENCE ON DECISION AND CONTROL (CDC)
ISSN	0743-1546
页码	5618-5624
发表状态	已发表
DOI	10.1109/CDC49753.2023.10384188
摘要	This paper presents a novel adaptive iterative learning control (ILC) framework for achieving high-performance trajectory tracking in uncertain nonlinear systems perturbed by external disturbances. The proposed scheme, referred to as IL-MRAC, combines two components inspired by indirect ILC and classical model reference adaptive control (MRAC), respectively. The key idea behind the proposed scheme is to first develop an input signal for a stabilized nominal model of the plant in ILC-loop, then inject the signal into the MRAC-Loop as the reference signal. This bypasses the unrealistic identical initialization condition required by con-ventional ILC methods and ingeniously transfers the problems brought by the initial errors, model uncertainties, and external disturbances to a powerful adaptive controller and handled in the time domain. Meanwhile, by including the well-trained inputs obtained in the iteration domain as reference signals, the adaptive controller gains the ability to directly track the desired trajectory. The convergence of the scheme is rigorously proven, and numerical examples and high-fidelity simulations demonstrate its effectiveness and superiority. © 2023 IEEE.
会议录编者/会议主办者	East China University of Science and Technology ; et al. ; MathWorks, Harbin Engineering University ; Nanjing University of Information Science and Technology ; Shandong University of Science and Technology ; Shanghai Jiaotong Univerity
关键词	Adaptation models Uncertainty Trajectory tracking Stability analysis Numerical models Trajectory Adaptive control
会议名称	62nd IEEE Conference on Decision and Control, CDC 2023
会议地点	Singapore, Singapore
会议日期	13-15 Dec. 2023
URL	查看原文
收录类别	EI
语种	英语
出版者	Institute of Electrical and Electronics Engineers Inc.
EI入藏号	20240715548081
EISSN	2576-2370
原始文献类型	Conference article (CA)
来源库	IEEE
文献类型	会议论文
条目标识符	https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/349770
专题	信息科学与技术学院信息科学与技术学院_硕士生信息科学与技术学院_博士生信息科学与技术学院_PI研究组_汪阳组信息科学与技术学院_PI研究组_刘松组
通讯作者	Wang, Yang
作者单位	The School of Information Science and Technology, ShanghaiTech University, Shanghai; 201210, China
第一作者单位	信息科学与技术学院
通讯作者单位	信息科学与技术学院
第一作者的第一单位	信息科学与技术学院
推荐引用方式 GB/T 7714	Zhang, Heng,Zhang, Qilong,Liu, Song,et al. Iterative Learning Embedded Model Reference Adaptive Control for Perturbed Nonlinear MIMO Systems[C]//East China University of Science and Technology, et al., MathWorks, Harbin Engineering University, Nanjing University of Information Science and Technology, Shandong University of Science and Technology, Shanghai Jiaotong Univerity:Institute of Electrical and Electronics Engineers Inc.,2023:5618-5624.