Robust learning control for a class of nonlinear systems with periodic and aperiodic uncertainties

被引:58
作者
Tian, YP
Yu, XH
机构
[1] Royal Melbourne Inst Technol, Fac Engn, Melbourne, Vic 3001, Australia
[2] Southeast Univ, Dept Automat Control, Nanjing 210096, Peoples R China
基金
澳大利亚研究理事会; 中国国家自然科学基金;
关键词
iterative learning; robust control; nonlinear systems; time-varying uncertainties; control synthesis;
D O I
10.1016/S0005-1098(03)00205-X
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper addresses the robust learning control problem for a class of nonlinear systems with structured periodic and unstructured aperiodic uncertainties. A recursive technique is proposed which extends the backstepping idea to the robust repetitive learning control systems. A learning evaluation function instead of a Lyapunov function is formulated as a guideline for derivation of the control strategy which guarantees the asymptotic stability of the tracking system. A design example is given. (C) 2003 Elsevier Ltd. All rights reserved.
引用
收藏
页码:1957 / 1966
页数:10
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