Set-to-set iterative learning control

DOI10.1016/J.AUTOMATICA.2025.112422MaRDI QIDQ6947616zbMATH OpenFDO

Authors Reid D. Smith, Andrew G. Alleyne

Publication date 5 August 2025

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/J.AUTOMATICA.2025.112422

zbMATH Keywords

iterative learning controllinear systemspolytopes

Mathematics Subject Classification ID

Iterative learning control (93B47) Linear systems in control theory (93C05) Multivariable systems, multidimensional control systems (93C35)

Review text

This work introduces a novel set-to-set (STS) iterative learning control (ILC) framework which generalizes the ideas of point-to-point ILC (PTP ILC) and region-to-region (RTR ILC) techniques. The existing ILC frameworks are extended by tracking both sets and points at desired times within an iteration. The objective of the new framework is to optimize control allocation and PTP tracking performance while tracking goal sets at all desired times. Within these goal sets, the tracking is performed without constructing a reference trajectory. Theoretical proof is presented on the improved performance of STS ILC over PTP ILC and RTR ILC, in addition to iterative convergence of the STS ILC input sequence and tracking error. Analysis of the STS ILC demonstrates that by tracking the sets in a reference-free manner, the STS ILC will produce a lower bound on the optimization cost in comparison with the alternative ILC methods. Two multi-input multi-output case studies are used to demonstrate the effectiveness of the STS ILC in allowing a linear system agent to visit polytopic set regions by learning the correct paths from one iteration to the next. Future work envisages developing a theory for the STS ILC for robustness to uncertain and nonlinear plants, considering input constraints, and adopting data-driven methods for modeling the plant.

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Cited in

(1)

• Region-constrained multi-robot coordination with leader synchronization

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