会议专题

PD-IPD-type ILC for a Class of Nonlinear Systems

In this paper, we presents a new class of iterative learning control law for a class of nonlinear systems, denoted PD-IPD, which is composed by adding a derivative term in the integrator of PID learning control law. By using Bellman Gronwall lemma, the simple explicit conditions on the learning gains to ensure convergence are provided in the sense of Lambda norm. An attractive feature of PD-IPD learning law is that it is of faster convergence speed and higher accuracy. The simulation example demonstrates the advantage and effectiveness of PD-IPD learning law.

Iterative learning control Nonlinear system Convergence analysis Robot control

Bai-shun Liu Ying-Ze Hao

Department of Battle & Command Academe of Naval Submarine QingDao,China

国际会议

2009 International Conference on Measuring Technology and Mechatronics Automation(ICMTMA 2009)(2009年检测技术与机械自动化国际会议)

长沙

英文

832-835

2009-04-11(万方平台首次上网日期,不代表论文的发表时间)