Iterative learning control of strict-feedback nonlinear time-varying systems

被引：26
|
作者：
Zhu S. [1 ]
Sun M.-X. [1 ]
He X.-X. [1 ]
机构：
[1] Institute of Information and Control, College of Information Engineering, Zhejiang University of Technology
来源：
Zidonghua Xuebao/ Acta Automatica Sinica | 2010年 / 36卷 / 03期
关键词：
Backstepping; Iterative learning control (ILC); Lyapunov-like; Time-varying systems;
D O I：
10.3724/SP.J.1004.2010.00454
中图分类号：
学科分类号：
摘要：
In this paper, an iterative learning controller is presented for a class of strict-feedback nonlinear systems with time-varying uncertainties. The learning controller is designed based on the Lyapunov-like synthesis, which can handle system dynamics with non-global Lipschitz nonlinearities. For the controller design, the time-varying parameters are expanded into Taylor series with bounded remained term, and backstepping design technique is applied. Hyperbolic tangent function is used with a typical series introduced in order to guarantee the differentiability of the virtue control variables. Theoretical analysis shows that all signals in the closed-loop system remain bounded and that complete tracking over a pre-specified time interval is achieved. © 2010 Acta Automatica Sinica.
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页码：454 / 458
页数：4
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