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Noise-Tolerant ZNN-Based Data-Driven Iterative Learning Control for Discrete Nonaffine Nonlinear MIMO Repetitive Systems
Yunfeng Hu; Chong Zhang; Bo Wang; Jing Zhao; Xun Gong; Jinwu Gao; Hong Chen
Source PublicationIEEE/CAA Journal of Automatica Sinica
ISSN2329-9266
2024
Volume11Issue:2Pages:344-361
AbstractAiming at the tracking problem of a class of discrete nonaffine nonlinear multi-input multi-output (MIMO) repetitive systems subjected to separable and nonseparable disturbances, a novel data-driven iterative learning control (ILC) scheme based on the zeroing neural networks (ZNNs) is proposed. First, the equivalent dynamic linearization data model is obtained by means of dynamic linearization technology, which exists theoretically in the iteration domain. Then, the iterative extended state observer (IESO) is developed to estimate the disturbance and the coupling between systems, and the decoupled dynamic linearization model is obtained for the purpose of controller synthesis. To solve the zero-seeking tracking problem with inherent tolerance of noise, an ILC based on noise-tolerant modified ZNN is proposed. The strict assumptions imposed on the initialization conditions of each iteration in the existing ILC methods can be absolutely removed with our method. In addition, theoretical analysis indicates that the modified ZNN can converge to the exact solution of the zero-seeking tracking problem. Finally, a generalized example and an application-oriented example are presented to verify the effectiveness and superiority of the proposed process.
KeywordAdaptive control control system synthesis data-driven iterative learning control neurocontroller nonlinear discrete time systems
DOI10.1109/JAS.2023.123603
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Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/54547
Collection学术期刊_IEEE/CAA Journal of Automatica Sinica
Recommended Citation
GB/T 7714
Yunfeng Hu,Chong Zhang,Bo Wang,et al. Noise-Tolerant ZNN-Based Data-Driven Iterative Learning Control for Discrete Nonaffine Nonlinear MIMO Repetitive Systems[J]. IEEE/CAA Journal of Automatica Sinica,2024,11(2):344-361.
APA Yunfeng Hu.,Chong Zhang.,Bo Wang.,Jing Zhao.,Xun Gong.,...&Hong Chen.(2024).Noise-Tolerant ZNN-Based Data-Driven Iterative Learning Control for Discrete Nonaffine Nonlinear MIMO Repetitive Systems.IEEE/CAA Journal of Automatica Sinica,11(2),344-361.
MLA Yunfeng Hu,et al."Noise-Tolerant ZNN-Based Data-Driven Iterative Learning Control for Discrete Nonaffine Nonlinear MIMO Repetitive Systems".IEEE/CAA Journal of Automatica Sinica 11.2(2024):344-361.
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