Adaptive Iterative Learning Control for Nonlinearly Parameterized Systems with Unknown Time-varying Delay and Unknown Control Direction  

作　　者：Dan Li Jun-Min Li Department of Mathematics,Xidian University,Xi an 710071,China 

出　　处：《International Journal of Automation and computing》2012年第6期578-586,共9页国际自动化与计算杂志（英文版）

基　　金：supported by National Natural Science Foundation of China (No. 60974139);Fundamental Research Funds for the Central Universities (No. 72103676)

摘　　要：This paper proposes a new adaptive iterative learning control approach for a class of nonlinearly parameterized systems with unknown time-varying delay and unknown control direction.By employing the parameter separation technique and signal replacement mechanism,the approach can overcome unknown time-varying parameters and unknown time-varying delay of the nonlinear systems.By incorporating a Nussbaum-type function,the proposed approach can deal with the unknown control direction of the nonlinear systems.Based on a Lyapunov-Krasovskii-like composite energy function,the convergence of tracking error sequence is achieved in the iteration domain.Finally,two simulation examples are provided to illustrate the feasibility of the proposed control method.This paper proposes a new adaptive iterative learning control approach for a class of nonlinearly parameterized systems with unknown time-varying delay and unknown control direction.By employing the parameter separation technique and signal replacement mechanism,the approach can overcome unknown time-varying parameters and unknown time-varying delay of the nonlinear systems.By incorporating a Nussbaum-type function,the proposed approach can deal with the unknown control direction of the nonlinear systems.Based on a Lyapunov-Krasovskii-like composite energy function,the convergence of tracking error sequence is achieved in the iteration domain.Finally,two simulation examples are provided to illustrate the feasibility of the proposed control method.

关 键 词：Nonlinearly time-varying parameterized systems unknown time-varying delay unknown control direction composite energy function adaptive iterative learning control. 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]