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

摘要：

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.

关键词： Iterative learning control Nonlinear system Convergence analysis Robot control

作者: Bai-shun Liu Ying-Ze Hao

作者单位: Department of Battle & Command Academe of Naval Submarine QingDao,China

会议类型: 国际会议

会议名称: 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)

会议地点: 长沙

会议语种:英文

页码: 832-835

在线出版日期: 2009-04-11（万方平台首次上网日期，不代表论文的发表时间）