Convergence Analysis of Wireless Remote Iterative Learning Control Systems with Channel Noise

摘要

Channel noise, including sensor-to-controller(SC) noise and controller-to-actuator(CA) noise, impacts the convergence of wireless remote iterative learning control (ILC) system significantly. In this paper, the relationship between output error, SC noise and CA noise is obtained firstly by super-vector formulation, and then the norm of output error vector covariance matrix is employed to analyze the convergence of the system in presence of SC noise and CA noise. Upper bound of the norm at any sample time reveals that the SC noise is accumulated only in iteration domain, while the CA noise is accumulated not only in iteration domain but also in time domain. Furthermore, the accumulated effect of the CA noise in time domain is ruled by system matrices, so the values of which determine the effect of the CA noise is greater or less than that of the SC noise on convergence of the system. Finally, some simulation results are given to illustrate correctness of the result.