Networked Iterative Learning Control Under Changing Operating Mode of Agents and Configuration of Information Network
Author(s):
Anton Sergeevich Koposov
Postgraduate student of the Department of Applied Mathematics,
Arzamas Polytechnic Institute of R.E. Alekseev Nizhny Novgorod State
Technical University
koposov96@yandex.ru
Abstract:
The paper considers the iterative learning control (ILC) design problem
of a network system under changing operating mode of subsystems (agents)
and configuration of information network. The network system consists of
identical agents, which are discrete linear dynamic plants operating in
a repetitive mode. The operating modes of agents depend on their parameters
and the reference trajectory, which must be tracked with required accuracy
at output of system. The configurations of information network define the
group of functioning agents and the type of information exchange between them.
The mode and the configuration change takes place in accordance with certain
external rules. The control design is based on the divergent method of the
vector Lyapunov function. For reducing the transient error caused by the
mode change and the connection of new agents, a special rule for switching
the ILC law is proposed. The results of modeling the obtained control law
for a group of manipulators with flexible link are presented.
Keywords
- changing reference trajectory
- iterative learning control
- networked control
- systems with switches
- vector Lyapunov function
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