|Table of Contents|

Adaptive iterative learning control for nonlinear systems with unknown control direction

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
2015年06期
Page:
661-
Research Field:
Publishing date:

Info

Title:
Adaptive iterative learning control for nonlinear systems with unknown control direction
Author(s):
Li Guangyin
College of Information,Yunnan Normal University,Kunming 650092,China
Keywords:
unknown control direction nonlinear system time-varying delay system adaptive iterative learning control fully saturated function signal replacement differential and difference coupling parameter
PACS:
TP273
DOI:
-
Abstract:
An adaptive iterative learning control algorithm is designed by using fully saturated function for a nonlinear system with unknown control direction and unknown time-varying delay.The existing unknown time-varying delay is resolved by signal replacement mechanism.The lack of a priori knowledge of the control direction is dealt with by the Nussbaum-gain technique.Differential and difference coupling parameter updating laws are proposed for the estimates of the unknown time-varying parameters and the constant parameters.The external bounded interference in the system is merged into an unknown parameter vector and estimated by a fully saturated adaptive method.The convergence of the system is analyzed by the constructed Lyapunov-Krasovskii composite energy function.It is verified that the state of the system output can track the desired output asymptotically along the iteration axis and all signals in the closed-loop system are bounded.A simulation example verifies the effectiveness of the proposed control method.

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Last Update: 2015-12-31