Event-Triggered iterative learning control for asynchronously switched systems

Iterative learning control (ILC) is an effective control strategy for complex systems that uses trial and error to obtain desired output trajectories. This paper focuses on the issue of event-triggered ILC for switched systems with asynchronous switching. An event-triggered ILC method is designed to reduce unnecessary controller updates during iterations. The main technical contribution is that the analysis and synthesis are performed in both time and iteration domains. First, in order to solve the asynchronous switching problem in the time direction and the update problem in the iteration direction, a Lyapunov function involving both directions is adopted. Second, to prove the convergence of tracking error and the system stability in both domains, a new prove method is proposed, in which the tracking error is summed over the entire time domain and the average dwell condition is summed over the entire iteration domain. Finally, the feasibility of theoretical result is verified by simulation.