Iterative learning in optimal control of linear dynamic processes

作者：Rafajlowicz Ewaryst^*; Rafajlowicz Wojciech

来源：International Journal of Control, 2018, 91(7): 1522-1540.

DOI：10.1080/00207179.2017.1320810

• Iterative learning
• repetitive optimal control
• LTI systems
• camera in the loop
• infra-red camera

We consider iterative learning control of linear repetitive processes in a setting, which is motivated by laser cladding processes that are controlled with the help of cameras and/or infra-red (IR) cameras. We develop a gradient-like learning procedure that is based on the Frechet derivative of a control quality criterion. Then, we prove its convergence. We also provide local bounds on parameter uncertainty for which the convergence of the learning process is still retained. The proposed approach is extensively tested using a very accurate model of the gantry robot. Finally, an example of the laser cladding process is discussed. Images from a camera and IR camera allow us to design a proper temperature profile, for which a laser power control signal is calculated by simulations of the the repetitive process.

• 出版日期2018