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
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)