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Adaptive iterative learning control for nonlinearly parameterized systems with unknown time-varying delay and unknown control direction

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Abstract

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.

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Authors and Affiliations

  1. Department of Mathematics, Xidian University, Xi’an, 710071, China

    Dan Li & Jun-Min Li

Authors
  1. Dan Li
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  2. Jun-Min Li
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Corresponding author

Correspondence to Jun-Min Li.

Additional information

This work was supported by National Natural Science Foundation of China (No. 60974139), Fundamental Research Funds for the Central Universities (No. 72103676).

Dan Li graduated from Huanggang Normal University, China in 2010. She is currently a master student in Department of Mathematics, Xidian University, China.

Her research interests include adaptive control and iterative learning control.

Jun-Min Li graduated from Xidian University, China in 1987. He received the M. Sc. degree from Xidian University in 1990 and the Ph.D. degree from the Xi’an Jiaotong University, China in 1997. He is currently a professor at Department of Mathematics, Xidian University.

His research interests include adaptive control, learning control, intelligent control, hybrid system control theory, and the networked control systems.

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Li, D., Li, JM. Adaptive iterative learning control for nonlinearly parameterized systems with unknown time-varying delay and unknown control direction. Int. J. Autom. Comput. 9, 578–586 (2012). https://doi.org/10.1007/s11633-012-0682-9

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  • DOI: https://doi.org/10.1007/s11633-012-0682-9

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