Iterative extended state observer and its application in iterative learning control

作者：Li, Xiang-Yang^*

来源：Control and Decision, 2015, 30(3): 473-478.

DOI：10.13195/j.kzyjc.2013.1765

• Extended state observer
• Iterative learning
• Iterative learning control
• Iterative learning control systems
• ITS applications
• Time domain
• Tracking errors

For the uncertainty in a class of iterative learning control (ILC) systems, a linear iterative extended state observer (LIESO) in the iterative domain is presented based on the thought of extended state observer in time domain. This LIESO can estimate explicitly the uncertainty of the ILC system according to the tracking error during the process of iterations. The ILC algorithm based on the estimation of the uncertainty is presented, whose convergence is proved by using Lyapunov-like approach. Simulation results show the effectiveness of the proposed ILC algorithm and the iterative learning efficiency can be improved so much by using LIESO.

• 出版日期2015-3-1
• 单位华南理工大学