Adaptive Iterative Learning Control for a Class of Nonlinear Time-varying Systems with Unknown Delays and Input Dead-zone

Jianming Wei; Yunan Hu; Meimei Sun

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Adaptive Iterative Learning Control for a Class of Nonlinear Time-varying Systems with Unknown Delays and Input Dead-zone

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This paper presents an adaptive iterative learning control (AILC) scheme for a class of nonlinear systems with unknown time-varying delays and unknown input dead-zone. A novel nonlinear form of dead-zone nonlinearity is presented.The assumption of identical initial condition for iterative learning control(ILC)is removed by introducing boundary layer function. The uncertainties with time-varying delays are compensated for by using appropriate Lyapunov-Krasovskii functional and Young′s inequality. Radial basis function neural networks are used to model the time-varying uncertainties. The hyperbolic tangent function is employed to avoid the problem of singularity. According to the property of hyperbolic tangent function, the system output is proved to converge to a small neighborhood of the desired trajectory by constructing Lyapunov-like composite energy function(CEF)in two cases,while keeping all the closed-loop signals bounded.Finally,a simulation example is presented to verify the effectiveness of the proposed approach.

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《自动化学报（英文版）》 |2014年第3期|302-314|共13页
作者
Jianming Wei; Yunan Hu; Meimei Sun;
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the Department of Control Engineering,Naval Aeronautical Engineering Institute,Yantai 264001,China;

the Department of Control Engineering,Naval Aeronautical Engineering Institute,Yantai 264001,China;

the Department of Control Engineering,Naval Aeronautical Engineering Institute,Yantai 264001,China;

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Adaptive Iterative Learning Control for a Class of Nonlinear Time-varying Systems with Unknown Delays and Input Dead-zone

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