International Transactions on Evolutionary and Metaheuristic Algorithms

Vol. 5, No. 2, Dec. 2019

An Optimal PD-Type Iterative Learning Control Design for Precise Position Controls | Original Paper

Minh Y Nguyen a,, Hoang Hua b
a Thai Nguyen University of Technology, Thai Nguyen, Việt Nam
b Thai Nguyen University of Technology, Thai Nguyen, Việt Nam

Highlights and Novelties


1- The characteristic of Iterative Learning Control (ILC) is studied in both theoretical and practical systems.

2- A design of ILC technique for solving position tracking controls based on the monotonic convergence.

3- The proposed design is applied to control the position DC motors with repeated trajectory and motions.


Manuscript Abstract
In many industrial applications, the system needs to perform a motion repeatedly in which the conventional feedback controller cannot achieve the desired accuracy. This paper presents a PD-Type algorithm of Iterative Learning Control (ILC) the for repeated position tracking control problems of DC motors. In this scheme, the control action is computed considering not only the error of the system output and references but also the recognition of the previous performance. By this means, the control signal is updated continually which will mitigate the error to an acceptable range after some iterations, i.e., learning operations. The monotonic convergence is employed to formulate the cost function and determine the proper learning operators. The proposed control scheme is applied to control the trajectory of the position of DC motors. The result shows the advantages of ILC versus the conventional control techniques such as PID controllers, etc. After few iterations, the system output will be adjusted close to the reference in the whole trajectory of motions and the accuracy is accepted (10–3).

Keywords
 Iterative Learning Control   Monotonic convergence   Optimal design   Precise controls 

Copyright
© Copyright was transferred to International Computer Science and Engineering Society (ICSES) by all the Authors.

Cite this manuscript as
Minh Y Nguyen, Hoang Hua, "An Optimal PD-Type Iterative Learning Control Design for Precise Position Controls," International Transactions on Evolutionary and Metaheuristic Algorithms (ITEMA), vol. 5, no. 2, pp. 1-8, Dec. 2019.

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