Xisheng Zhan, Shuchen Li, Chunyan Zhai, Jie Wu, Jing Ma
{"title":"A new approach to robust stability analysis of uncertain time-delay systems","authors":"Xisheng Zhan, Shuchen Li, Chunyan Zhai, Jie Wu, Jing Ma","doi":"10.1109/ISSCAA.2006.1627679","DOIUrl":null,"url":null,"abstract":"A design method of robust iterative learning controller is proposed for time-varying systems with uncertain time-delay. The controller is obtained by resolving Riccati equation. In addition, the necessary and sufficient conditions of convergence are derived by Lyapunov theory. The proposed controller has lower order and can be more easily realized than robust controller. The scheme proposed guarantees that the tracking error converges to a pre-specified error bound after finite iterations. Cite a two-link planar robot as an example. The simulation result shows the effectiveness and feasibility of the proposed method","PeriodicalId":275436,"journal":{"name":"2006 1st International Symposium on Systems and Control in Aerospace and Astronautics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2006-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2006 1st International Symposium on Systems and Control in Aerospace and Astronautics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISSCAA.2006.1627679","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
A design method of robust iterative learning controller is proposed for time-varying systems with uncertain time-delay. The controller is obtained by resolving Riccati equation. In addition, the necessary and sufficient conditions of convergence are derived by Lyapunov theory. The proposed controller has lower order and can be more easily realized than robust controller. The scheme proposed guarantees that the tracking error converges to a pre-specified error bound after finite iterations. Cite a two-link planar robot as an example. The simulation result shows the effectiveness and feasibility of the proposed method
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