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

Authors
Journal
Automatica
0005-1098
Publisher
Elsevier
Publication Date
Volume
40
Issue
10
Identifiers
DOI: 10.1016/j.automatica.2004.05.010
Keywords
  • Iteration Learning Control (Ilc)
  • Unknown Control Direction
  • Nussbaum Function
  • Local Lipschizian Nonlinearity
Disciplines
  • Design

Abstract

Abstract 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.

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