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Modeling, Simulation and Optimization of Complex Processes - HPSC 2012 pp 37–49Cite as

On Quadratic Programming Based Iterative Learning Control for Systems with Actuator Saturation Constraints

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Abstract

When feedback control systems are given a commanded desired trajectory to perform, they produce a somewhat different trajectory. The concept of bandwidth is used to indicate what frequency components of the trajectory are executed reasonably well. Iterative Learning Control (ILC) iteratively changes the command, aiming to make the control system output match the desired output. The theory of linear ILC is reasonably well developed, but in hardware applications the nonlinear effects from hitting actuator saturation limits during the process of convergence of ILC could be detrimental to performance. Building on previous work by the authors and coworkers, this paper investigates the conversion of effective ILC laws into a quadratic cost optimization. And then it develops the modeling needed to impose actuator saturation constraints during the ILC learning process producing Quadratic Programming based ILC, or QP-ILC. The benefits and the need for ILC laws that acknowledge saturation constraints are investigated.

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Author information

Authors and Affiliations

  1. Columbia University, New York, NY, 10027, USA

    Fei Gao (Visiting Research Scholar, Doctoral Candidate)

  2. Tsinghua University, 100084, Beijing, China

    Fei Gao (Visiting Research Scholar, Doctoral Candidate)

  3. Department of Mechanical Engineering, Columbia University, New York, NY, 10027, USA

    Richard W. Longman

Authors
  1. Fei Gao
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  2. Richard W. Longman
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Corresponding author

Correspondence to Richard W. Longman .

Editor information

Editors and Affiliations

  1. Interdisciplinary Center for Scientific Computing (IWR), University of Heidelberg, Heidelberg, Germany

    Hans Georg Bock

  2. Vietnam Academy of Science and Technology(VAST), Hanoi, Vietnam

    Xuan Phu Hoang

  3. Interdisciplinary Center for Scientific Computing (IWR), University of Heidelberg, Heidelberg, Germany

    Rolf Rannacher

  4. Interdisciplinary Center for Scientific Computing (IWR), University of Heidelberg, Heidelberg, Germany

    Johannes P. Schlöder

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© 2014 Springer International Publishing Switzerland

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Gao, F., Longman, R.W. (2014). On Quadratic Programming Based Iterative Learning Control for Systems with Actuator Saturation Constraints. In: Bock, H., Hoang, X., Rannacher, R., Schlöder, J. (eds) Modeling, Simulation and Optimization of Complex Processes - HPSC 2012. Springer, Cham. https://doi.org/10.1007/978-3-319-09063-4_4

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