Abstract
An iterative learning control (ILC) scheme is designed for a class of nonlinear discrete-time dynamical systems with unknown iteration-varying parameters and control direction. The iteration-varying parameters are described by a high-order internal model (HOIM) such that the unknown parameters in the current iteration are a linear combination of the counterparts in the previous certain iterations. Under the framework of ILC, the learning convergence condition is derived through rigorous analysis. It is shown that the adaptive ILC law can achieve perfect tracking of system state in presence of iteration-varying parameters and unknown control direction. The effectiveness of the proposed control scheme is verified by simulations.
Highlights
Iterative learning control (ILC) is an effective control method in improving the transient response and tracking performance of controlled system when the control task is performed repeatedly in a finite time interval [1]
The main contribution of the paper lies in the fact that high-order internal model (HOIM)-based iterative learning control (ILC) scheme is proposed for a class of nonlinear discrete-time systems with unknown control direction [18– 21]
An iterative learning control scheme is presented for a class of nonlinear discrete-time systems with unknown iteration-varying parameters and unknown control direction, where the unknown iteration-varying parameters are assumed to satisfy a structure of high-order internal model (HOIM)
Summary
Iterative learning control (ILC) is an effective control method in improving the transient response and tracking performance of controlled system when the control task is performed repeatedly in a finite time interval [1]. ILC design with iteration-varying factors is a problem of considerable importance in both theory and practical applications [9]. It is worth noticing that HOIM information has been considered to expedite the learning convergence of ILC in [9, 16, 17], there have been no works addressing ILC design of nonlinear discrete-time systems with iteration-varying HOIM-type uncertainties. The main contribution of the paper lies in the fact that HOIM-based ILC scheme is proposed for a class of nonlinear discrete-time systems with unknown control direction [18– 21]. It is shown that the proposed adaptive ILC law can achieve perfect tracking of system state in presence of iteration-varying parameters and unknown control direction.
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