Iterative learning control design without a priori knowledge of the control direction

In this work we explore the possibility of designing a new iterative learning control scheme for systems without a priori knowledge of the control direction. By incorporating a Nussbaum-type function, a new learning control mechanism is constructed with both differential and difference updating laws. The new learning control mechanism can warrant a L"T^2 convergence of the tracking error sequence along the iteration axis, in the presence of time-varying parametric uncertainties and local Lipschitz nonlinearities.

[1]  David H. Owens,et al.  Adaptive iterative learning control , 1996 .

[2]  Suguru Arimoto,et al.  Bettering operation of Robots by learning , 1984, J. Field Robotics.

[3]  Michael J. Grimble,et al.  Iterative Learning Control for Deterministic Systems , 1992 .

[4]  Zhihua Qu.  Robust control of nonlinear systems by estimating time variant uncertainties , 2002, IEEE Trans. Autom. Control..

[5]  Toshiharu Sugie,et al.  An iterative learning control law for dynamical systems , 1991, Autom..

[6]  R. Nussbaum.  Some remarks on a conjecture in parameter adaptive control , 1983 .

[7]  Chiang-Ju Chien,et al.  A discrete iterative learning control of nonlinear time-varying systems , 1996, Proceedings of 35th IEEE Conference on Decision and Control.

[8]  Jiang Ping,et al.  Adaptive iterative feedback control for nonlinear system with unknown high-frequency gain , 2002, Proceedings of the 4th World Congress on Intelligent Control and Automation (Cat. No.02EX527).

[9]  Mingxuan Sun,et al.  An iterative learning controller with initial state learning , 1999, IEEE Trans. Autom. Control..

[10]  Ying Tan,et al.  A composite energy function-based learning control approach for nonlinear systems with time-varying parametric uncertainties , 2002, IEEE Trans. Autom. Control..

[11]  X. Ye,et al.  Adaptive nonlinear design without a priori knowledge of control directions , 1998, IEEE Trans. Autom. Control..

[12]  E. P. Ryan.  Singular optimal controls for second-order saturating systems , 1979 .

[13]  Jianxin Xu,et al.  The frontiers of iterative learning control , 1998 .

[14]  J. Kaloust,et al.  Continuous robust control design for nonlinear uncertain systems without a priori knowledge of control direction , 1995, IEEE Trans. Autom. Control..

[15]  Rogelio Lozano,et al.  Adaptive control of a simple nonlinear system without a priori information on the plant parameters , 1992 .

[16]  Mingxuan Sun,et al.  Iterative learning control with initial rectifying action , 2002, Autom..

[17]  R. Lozano,et al.  Adaptive control of first-order nonlinear systems with reduced knowledge of the plant parameters , 1994, IEEE Trans. Autom. Control..

[18]  Dong-Hwan Hwang,et al.  Design of an iterative learning controller for a class of linear dynamic systems with time-delay , 1998 .

[19]  吉沢 太郎.  Stability theory by Liapunov's second method , 1966 .

[20]  E. Ryan.  A universal adaptive stabilizer for a class of nonlinear systems , 1991 .