Robust Adaptive Iterative Learning Control for a Class of Second Order Uncertain Nonlinear Systems

被引：4

作者：

Liu Ping ^{[1
]}

Guo Yu ^{[1
]}

Hu Yan ^{[1
]}

Xiang Zhenrong ^{[1
]}

机构：

[1] Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Peoples R China

来源：

PROCEEDINGS OF THE 27TH CHINESE CONTROL CONFERENCE, VOL 4 | 2008年

关键词：

Uncertain nonlinear system; Robust adaptive iterative learning control; Lyapunov stability; Backstepping technology;

D O I：

10.1109/CHICC.2008.4605140

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Based on Lyapunov stability theory and backstepping technology, a robust adaptive iterative learning control algorithm is proposed for a class of second order nonlinear systems with unknown disturbance and time-varying parameters. The unknown parameters are estimated in time-domain and the disturbance is inhibited by robust control. Feedback control is also introduced to improve the control performance. The algorithm is suitable for systems both under identical initial condition and alignment condition. Simulation results show the effectiveness of the algorithm.

引用

页码：29 / 33

页数：5