Method to filter the updated input of P-type ILC controllers with communication delays and noises

Lixun Huang, Xinyang Guo, Lijun Sun, Qiuwen Zhang, Weihua Liu and Zhe Zhang

International Journal of Systems Science, 2023, vol. 54, issue 14, 2734-2747

Abstract: Communication interference affects the performance of networked iterative learning control (ILC) systems. In this paper, instead of designing new ILC controllers, we design a filter on the side of objects to calculate the updated input of ILC controllers under the effects of communication delays and noises in both links. To design the filter, a transmission model is developed to describe four different reception cases caused by communication delays and noises. Utilising the knowledge of ILC controllers and the developed transmission model, the filter is designed according to the orthogonality projection principle. Theoretical analysis and simulation results show that the calculated input effectively improves the convergence of objects controlled by the P-type ILC controller with communication delays and noises.

Date: 2023
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DOI: 10.1080/00207721.2023.2249161

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