A universal iterative learning stabilizer for a class of MIMO systems.
dc.contributor.author | Jiang, Ping | * |
dc.contributor.author | Chen, H. | * |
dc.contributor.author | Bamforth, C.A. | * |
dc.date.accessioned | 2009-09-09T10:44:39Z | |
dc.date.available | 2009-09-09T10:44:39Z | |
dc.date.issued | 2006 | |
dc.identifier.citation | Jiang, P., Chen, H. and Bamforth, C.A. (2006). A universal iterative learning stabilizer for a class of MIMO systems. Automatica. Vol. 42, No. 6, pp. 973-981. | |
dc.identifier.uri | http://hdl.handle.net/10454/3416 | |
dc.description | No | |
dc.description.abstract | Design of iterative learning control (ILC) often requires some prior knowledge about a system's control matrix. In some applications, such as uncalibrated visual servoing, this kind of knowledge may be unavailable so that a stable learning control cannot always be achieved. In this paper, a universal ILC is proposed for a class of multi-input multi-output (MIMO) uncertain nonlinear systems with no prior knowledge about the system control gain matrix. It consists of a gain matrix selector from the unmixing set and a learned compensator in a form of the positive definite discrete matrix kernel, corresponding to rough gain matrix probing and refined uncertainty compensating, respectively. Asymptotic convergence for a trajectory tracking within a finite time interval is achieved through repetitive tracking. Simulations and experiments of uncalibrated visual servoing are carried out in order to verify the validity of the proposed control method. | |
dc.language.iso | en | en |
dc.subject | Iterative learning control | |
dc.subject | Universal control | |
dc.subject | Unknown control gain | |
dc.subject | MIMO | |
dc.subject | Uncalibrated visual servoing | |
dc.title | A universal iterative learning stabilizer for a class of MIMO systems. | |
dc.status.refereed | Yes | |
dc.type | Article | |
dc.type.version | No full-text in the repository | |
dc.identifier.doi | https://doi.org/10.1016/j.automatica.2006.02.001 | |
dc.openaccess.status | closedAccess |