Method for filtering the input transmitted by proportional ILC controllers over wireless delay channels

In order to improve the tracking performance of objects controlled by ILC controllers over wireless delay channels, a filter is constructed on the side of objects to calculate the input transmitted by ILC controllers. Firstly, a class of proportional ILC controllers is considered, which is pre-designed to guarantee the tracking performance of objects without communication uncertainties. Additionally, a data receiving scheme is developed to ensure that the end exactly receive one data at each time instant under the mixed effects of wireless delay channels. Finally, according to the known information from both the proportional ILC controller and the developed data receiving scheme, the filter is constructed using the orthogonality theory. The theoretical analysis and simulation results show that the calculated input significantly improves the tracking performance of objects controlled by proportional ILC controllers through wireless channels.