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Iterative learning control for uncertain nonlinear discrete-time systems using current iteration tracking error

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Iterative learning control

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 248))

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Abstract

An iterative learning controller, assisted by including a current iteration tracking error in its updating law, is proposed for uncertain discrete-time nonlinear systems. It has been proven that the tracking error will be bounded in the presence of uncertainty, disturbance, and initialization error. Moreover, it has been shown that the final tracking error bound, which is directly related to the bounds of uncertainty, disturbance, and initialization error, together with the ILC convergence rate, can be adjusted to a desired level by tuning the learning gain of the current iteration tracking error in the ILC updating law. Simulation results have illustrated the effectiveness of the proposed iterative learning controller for tracking control of uncertain discrete-time nonlinear systems.

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Yangquan Chen PhD Changyun Wen PhD

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© 1999 Springer-Verlag London Limited

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(1999). Iterative learning control for uncertain nonlinear discrete-time systems using current iteration tracking error. In: Chen, Y., Wen, C. (eds) Iterative learning control. Lecture Notes in Control and Information Sciences, vol 248. Springer, London. https://doi.org/10.1007/BFb0110118

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  • DOI: https://doi.org/10.1007/BFb0110118

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  • Publisher Name: Springer, London

  • Print ISBN: 978-1-85233-190-0

  • Online ISBN: 978-1-84628-539-4

  • eBook Packages: Springer Book Archive

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