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Discrete-time adaptive iterative learning control with unknown control directions

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  • Control Theory
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Abstract

An adaptive iterative learning control scheme is proposed for a class of discrete-time nonlinear systems with random initial conditions and iteration-varying desired trajectories. The discrete Nussbaum gain method is incorporated into the control design to tackle the problem associated with the lack of a priori knowledge of the control directions. The proposed control algorithm guarantees the boundedness of all the signals in the controlled system. The tracking error converges to zero asymptotically along the iterative learning axis. The effectiveness of the proposed control law is verified through numerical simulation.

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Authors and Affiliations

  1. College of Electrical Engineering, Zhejiang University, Hangzhou, 310027, China

    Miao Yu, Jianliang Zhang & Donglian Qi

Authors
  1. Miao Yu
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  2. Jianliang Zhang
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  3. Donglian Qi
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Corresponding author

Correspondence to Miao Yu.

Additional information

Recommended by Editorial Board member Kwang Soon Lee under the direction of Editor Hyungbo Shim.

This work is supported by National Basic Research Program of China under Grant 2012CB316400, National Science Foundation of China under Grants 51107146, 60974135, 60525316, and 61171034, Zhejiang Provincial Natural Science Foundation of China under Grant No. R1110443.

Miao Yu received his Bachelor’s degree majoring in Automation from Zhejiang University, China, in 2007. From 2007, he is a Ph.D. candidate in Zhejiang University, China. From 2008 to 2009, he was a visiting student in University of Central Florida, Orlando, FL, USA. His research interests are in the field of iterative learning control, adaptive control and nonlinear control.

Jianliang Zhang was born in Henan, China in 1984. He obtained his M.S. degree in Zhejiang University of Technology, Hangzhou, China in 2009. Currently, he is a Ph.D. candidate in Zhejiang University and his research interests include game theory and its application in distributed optimization problems.

Donglian Qi received her Ph.D. degree in Control Theory and Control Engineering from Zhejiang University, Hangzhou, China, in 2002. From 2008 to 2010, she was a visiting scholar in University of Central Florida, Orlando, FL, USA. She is a professor of College of Electrical Engineering, Zhejiang University, Hangzhou, China. Her research fields are nonlinear system, nonlinear control, and signal processing.

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Yu, M., Zhang, J. & Qi, D. Discrete-time adaptive iterative learning control with unknown control directions. Int. J. Control Autom. Syst. 10, 1111–1118 (2012). https://doi.org/10.1007/s12555-012-0605-0

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  • DOI: https://doi.org/10.1007/s12555-012-0605-0

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