Abstract
AbstractA repetitive learning control method combined with backstepping technology is proposed for a class of high-order nonlinear systems with triangular structure with unknown control coefficients. The Nussbaum-gain method is incorporated into the control design to counteract the lack of a priori knowledge of the control directions. A differential-difference repetitive control law is presented to avoid the difficulties encountered in the derivation of the fictitious control. It is shown that the output of the controlled system could converge to the desired trajectory asymptotically through repetitive learning.
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