Effects of network communications on a class of learning controlled non-linear systems†

†Final version for the International Journal of Systems Science.

Abstract

In this article, an iterative learning control approach is proposed for a class of sampled-data non-linear systems over network communication channels. The effects of constant time delays and stochastic packet loss are discussed and demonstrated by simulation results. The focus of this article is to study the remote control problems when the environment is periodic or repeatable over iterations in a fixed finite interval. Because of the existence of time delays and packet loss in input and output signal transmissions, it is not trivial to accomplish the remote stabilisation task of any system. Moreover, to track a desired trajectory through a remote controller is even more difficult. Previous cycle-based learning method is incorporated into the network-based control for a class of non-linear systems which satisfies a global Lipschitz condition. The convergence property of this approach is proven. Furthermore, the convergence in the iteration domain is also discussed when there exists packet loss in both transmission channels of the system. Finally, one single-link rigid robot is given as an example to show the effectiveness of the proposed approach.

†Final version for the International Journal of Systems Science.

Keywords:

• time delays
• packet loss
• Iterative learning control
• remote control systems
• sampled-data systems
• nonlinearity
• global lipschitz condition

Acknowledgements

This research was supported by NSERC Canada.

Notes

†Final version for the International Journal of Systems Science.