Adaptive Iterative Learning Control of Nonlinear Systems with Unknown Control Direction
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Abstract:
An adaptive iterative learning control scheme is proposed for a class of mismatched nonlinear systems with periodic uncertainties and unknown control directions. The control algorithm has the following three features;the control method does not need control direction information; the periodic uncertainties are learned online by a learning control method; and the algorithm can deal with mismatched uncertainties. The proposed method can achieve asymptotical convergence along a learning repetition horizon. A simulation example is provided can demonstrate the effectiveness and feasibility of the control strategy.
