Abstract
In this paper, a barrier adaptive iterative learning control scheme is proposed to solve the trajectory-tracking problem for tank gun control systems under nonzero initial error condition. A novel construction method of rectified reference trajectory is presented for dealing with the initial position problem of iterative learning control for tank gun control systems. With a quadratic form barrier Lyapunov function adopted to controller design, the quadratic form of system error is constrained within the preset range during each iteration. Adaptive iterative learning control technique and robust control technique are jointly used to compensate for the parametric/nonparametric uncertainties and nonsymmetric deadzone nonlinearity. As the iteration number increases, the system state of tank gun control systems may accurately track the rectified reference trajectory, which leads to a excellent tracking performance during the part operation interval of tank gun control systems. Simulation results are presented to verify the effectiveness of the proposed barrier adaptive iterative control scheme.
Highlights
Iterative learning control (ILC) works well in coping with repetitive tracking tasks or periodic disturbance rejection [1]–[5]
Motivated by the above discussion, this paper focuses on the barrier adaptive ILC algorithm design for tank gun control systems under arbitrary nonzero initial error condition
(2) With a quadratic form barrier Lyapunov function adopted to controller design, the quadratic form of system error is constrained within the preset range during each iteration
Summary
Iterative learning control (ILC) works well in coping with repetitive tracking tasks or periodic disturbance rejection [1]–[5]. In [33], a novel neural network-based error-track iterative learning control scheme is proposed to tackle trajectory tracking problem for tank gun control systems None of these works consider the issue of initial rectification ILC for tank gun control systems. How to develop an effective initial rectification ILC scheme to meet the requirement of error constraints during each iteration and the requirement of arbitrary nonzero initial errors for tank gun control systems, has not been addressed yet. Motivated by the above discussion, this paper focuses on the barrier adaptive ILC algorithm design for tank gun control systems under arbitrary nonzero initial error condition. (1) A novel construction method of rectified reference trajectory is put forward to overcome the nonzero initial error problem in the ILC design for tank gun control systems.
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