earticle

영어

With the rapid and bursting development of computer and control science, research on iterative learning control system is a hot topic. Random delays of control and measurement signals during transmission over wireless network seriously affect the convergence performance of iterative learning control (ILC) systems. System based on step random delay model, the transfer matrix is derived, which contains random delay impact factor. For different cases of random delay, characteristic value and other elements of the shifting of the lower triangular matrix are analyzed respectively determine the rate of convergence and strong convergence. Analysis shows that the convergence speed is reduced, robust convergence have also been affected. Especially, the impact of control signal delays on robust convergence is greater than that of measurement signal delays. Simulation results are provided to demonstrate correctness of the conclusion. Finally, some potential improvement of proposed method is pointed out.