Chun-Li Zhang and Jun-Min Li. Adaptive Iterative Learning Control of Non-uniform Trajectory Tracking for Strict Feedback Nonlinear Time-varying Systems. International Journal of Automation and Computing, vol. 11, no. 6, pp. 621-626, 2014. DOI: 10.1007/s11633-014-0819-0
Citation: Chun-Li Zhang and Jun-Min Li. Adaptive Iterative Learning Control of Non-uniform Trajectory Tracking for Strict Feedback Nonlinear Time-varying Systems. International Journal of Automation and Computing, vol. 11, no. 6, pp. 621-626, 2014. DOI: 10.1007/s11633-014-0819-0

Adaptive Iterative Learning Control of Non-uniform Trajectory Tracking for Strict Feedback Nonlinear Time-varying Systems

  • In this paper, an iterative learning control strategy is presented for a class of nonlinear time-varying systems, the timevarying parameters are expanded into Fourier series with bounded remainder term. The backstepping design technique is used to deal with system dynamics with non-global Lipschitz nonlinearities and the approach proposed in this paper solves the non-uniform trajectory tracking problem. Based on the Lyapunov-like synthesis, the proposed method shows that all signals in the closed-loop system remain bounded over a pre-specified time interval 0, T. And perfect non-uniform trajectory tracking of the system output is completed. A typical series is introduced in order to deal with the unknown bound of remainder term. Finally, a simulation example shows the feasibility and effectiveness of the approach.
  • loading

Catalog

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return