Iterative Learning Control for a Class of Nonlinear Systems with Parametric Uncertainties

Authors:	Xu Jing, Nanyang Technological University, Singapore Joo Er Meng, Nanyang Technological University, Singapore
Topic:	1.2 Adaptive and Learning Systems
Session:	Iterative Learning Control
Keywords:	Iterative Learning Control, Relative Degree, Unmatched Parametric Uncertainty, Backstepping Technique, Energy-Function-Based Approach

Abstract

This paper addresses some issues pertinent to Iterative Learning Control (ILC) of a class of nonlinear systems with time-varying parametric uncertainties. The new control strategy combines the backstepping technique with ILC. The Energy-Function-based (EF-based) approach is employed to derive the control algorithm and analyze learning convergence. Rigorous mathematical proof shows that the proposed learning scheme is able to learn from different control targets and guarantee learning convergence for systems with high relative degree and unmatched parametric uncertainties. A numerical example is given to demonstrate the effectiveness of the proposed approach.