Designing iterative learning control subject to actuator limitations using QP methods
Conference proceedings article
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Author list: Longman R.W., Mombaur K.D., Panomruttanarug B.
Publisher: Hindawi
Publication year: 2008
ISBN: 9781563479458
eISSN: 1745-4557
Languages: English-Great Britain (EN-GB)
Abstract
Iterative learning control (ILC) applies to situations when a system performs a tracking maneuver repeatedly. The error each run is used to adjust the command in the next run, aiming to converge to zero error. Spacecraft applications include making fine pointing equipment follow a precise scan pattern in spite of flexibility effects. Effective ILC design methods are available for linear systems. An important issue is that ILC may reach act uator saturation limits during the iterations with hardware, and then there is no guarantee of convergence. This paper develops ILC methods based on quadratic programming that guarantee convergence under such conditions starting from a feasible trajectory. Copyright ฉ 2008 by the American Institute of Aeronautics Inc.
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