Robust adaptive repetitive learning control for a class of time-varying nonlinear systems with unknown control direction  

作　　者：Miao YU Xudong YE Donglian QI 

机构地区：[1]College of Electrical Engineering, Zhejiang University

出　　处：《控制理论与应用（英文版）》2013年第3期336-342,共7页

基　　金：supported by the National Basic Research Program of China (No. 2012CB316400);the National Science Foundation of China (Nos.60974135, 60525316, 61171034);the Zhejiang Provincial Natural Science Foundation of China (No. R1110443)

摘　　要：A robust adaptive repetitive learning control method is proposed for a class of time-varying nonlinear systems. Nussbaum-gain method is incorporated into the control design to counteract the lack of a priori knowledge of the control direction which determines the motion direction of the system under any input. It is shown that the system state could converge to the desired trajectory asymptotically along the iteration axis through repetitive learning. Simulation is carried out to show the validity of the proposed control method.A robust adaptive repetitive learning control method is proposed for a class of time-varying nonlinear systems. Nussbaum-gain method is incorporated into the control design to counteract the lack of a priori knowledge of the control direction which determines the motion direction of the system under any input. It is shown that the system state could converge to the desired trajectory asymptotically along the iteration axis through repetitive learning. Simulation is carried out to show the validity of the proposed control method.

关 键 词：Repetitive learning control (RLC) Unknown control direction Nussbaum gain 

分 类 号：O231[理学—运筹学与控制论]