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- Title
Adaptive iterative learning control for high‐order nonlinear systems with different types of uncertainties.
- Authors
Li, Xuefang; Chen, Yanfang; Sun, Hui‐Jie; Liu, Wanquan
- Abstract
The present work aims at investigating the adaptive iterative learning control (AILC) design for uncertain high‐order fully actuated nonlinear systems. In order to show the design principles, three types of nonlinear systems are considered, including systems with just parametric uncertainty, systems with both parametric and input distribution uncertainties as well as systems with both parametric uncertainty and an unknown control gain matrix. For different systems, the corresponding AILC schemes are proposed with different techniques in dealing with various system uncertainties, for which the convergence analysis are conducted rigorously based on the composite energy function. The effectiveness of the proposed AILC strategies is verified through numerical simulations.
- Subjects
ITERATIVE learning control; NONLINEAR systems; ENERGY function
- Publication
International Journal of Robust & Nonlinear Control, 2024, Vol 34, Issue 8, p5399
- ISSN
1049-8923
- Publication type
Article
- DOI
10.1002/rnc.7281