Quantized iterative learning control of communication-constrained systems with encoding and decoding mechanism

摘要

In practical applications, due to the limited communication bandwidth, the network control systems (NCSs) are prone to data dropouts when the load is high. In this paper, the problem of quantized iterative learning control (ILC) based on encoding and decoding mechanism for such communication-constrained systems is studied. By combining the encoding and decoding mechanism with the uniform quantizer, the network burden and the impact of quantization error on the tracking performance of the systems are significantly mitigated. Meanwhile, data dropouts are represented as the Bernoulli random variable model, and an ILC law based on gradient is designed. When data dropouts occur, the signals maintain the value of the previous trial, otherwise the signals are updated. For this kind of learning framework, the asymptotic zero-error tracking performance has been rigorously proven for the uniform quantizer. To validate the proposed design, a joint motion of an industrial robot in the horizontal plane is simulated as an example.