Adaptive iterative learning control for discrete-time nonlinear systems with unknown control direction

摘要：

An adaptive iterative learning control method is proposed for a class of discrete-time systems with random initial condition and iteration-varying desired trajectory. The discrete Nussbaum gain is incorporated into the control design to deal with the lack of a prior knowledge of the control direction. The proposed control algorithm guarantees the boundedness of all the signals in the controlled system. The tracking error would converge to zero asymptotically along the iterative learning axis. The effectiveness of the proposed control law is verified through numerical simulation.

关键词： Iterative learning control Unknown control direction Discrete Nussbaum gain

作者: YU Miao HUANG Chao PENG Junmin YE Xudong

作者单位: College of Electrical Engineering, Zhejiang University, Hangzhou 310027, P. R. China

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 2906-2910

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）