An Output-Recurrent-Neural-Network-Based Iterative Learning Control for Unknown Nonlinear Dynamic Plants
We present a design method for iterative learning control system by using an output recurrent neural network (ORNN). Two ORNNs are employed to design the learning control structure. The first ORNN, which is called the output recurrent neural controller (ORNC), is used as an iterative learning contro...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2012-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2012/545731 |
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| Summary: | We present a design method for iterative learning control system by using an output recurrent neural network (ORNN). Two ORNNs are employed to design the learning control structure. The first ORNN, which is called the output recurrent neural controller (ORNC), is used as an iterative learning controller to achieve the learning control objective. To guarantee the convergence of learning error, some information of plant sensitivity is required to design a suitable adaptive law for the ORNC. Hence, a second ORNN, which is called the output recurrent neural identifier (ORNI), is used as an identifier to provide the required information. All the
weights of ORNC and ORNI will be tuned during the control iteration and identification process,
respectively, in order to achieve a desired learning performance. The adaptive laws for the weights
of ORNC and ORNI and the analysis of learning performances are determined via a Lyapunov
like analysis. It is shown that the identification error will asymptotically converge to zero and
repetitive output tracking error will asymptotically converge to zero except the initial resetting
error. |
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| ISSN: | 1687-5249 1687-5257 |