Observer-based adaptive iterative learning control for nonlinear systems with time-varying delays |
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Authors: | Wei-Sheng Chen Rui-Hong Li Jing Li |
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Affiliation: | 1. Department of Applied Mathematics, Xidian University, Xi'an 710071, PRC |
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Abstract: | An observer-based adaptive iterative learning control (AILC) scheme is developed for a class of nonlinear systems with unknown time-varying parameters and unknown time-varying delays. The linear matrix inequality (LMI) method is employed to design the nonlinear observer. The designed controller contains a proportional-integral-derivative (PID) feedback term in time domain. The learning law of unknown constant parameter is differential-difference-type, and the learning law of unknown time-varying parameter is difference-type. It is assumed that the unknown delay-dependent uncertainty is nonlinearly parameterized. By constructing a Lyapunov-Krasovskii-like composite energy function (CEF), we prove the boundedness of all closed-loop signals and the convergence of tracking error. A simulation example is provided to illustrate the effectiveness of the control algorithm proposed in this paper. |
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Keywords: | Adaptive iterative learning control (AILC) nonlinearly parameterized systems time-varying delays Lyapunov-Krasovskii-like composite energy function |
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