Abstract：This paper presents a repetitive learning control method to handle the nonparametric uncertain problem for a class of uncertain nonlinear systems performing a given repetitive task over a finite time interval. The learning laws with dead-zone modification are adopted to estimate the desired control input and bound functions, which avoids the divergency of estimates due to the ceaseless positive accumulation and facilitates the implementation of the controller with less knowledge about the system dynamics. The repetitive learning controller is designed in terms of Lyapunov synthesis, so as to guarantee the boundedness of all closed-loop signals while ensuring the tracking error to converge to the pre-specified neighbourhood. Numerical results for an inverted pendulum system and the AC motor experiment are conducted to testify the effectiveness of the proposed learning control scheme.
李鹤, 孙明轩, 张静. 一类不确定非线性系统的重复学习控制. 自动化学报, 2018, 44(10): 1854-1863.
LI He, SUN Ming-Xuan, ZHANG Jing. Repetitive Learning Control for a Class of Uncertain Nonlinear Systems. Acta Automatica Sinica, 2018, 44(10): 1854-1863.
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2018, Vol. 44 
