Model free adaptive iterative learning control for a class of nonlinear systems with randomly varying iteration lengths |
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| Authors: | Xuhui Bu Sen Wang Zhongsheng Hou Wei Liu |
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| Institution: | 1. School of Electrical Engineering & Automation, Henan Polytechnic University, Jiaozuo, China;2. Institute of Artificial Intelligence and Control, Qingdao University of Science and Technology, Qingdao, China;3. School of Automation, Qingdao University, Qingdao, China;4. School of Electronics and Information Engineering, Beijing Jiaotong University, Beijing, China |
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| Abstract: | This paper proposes a novel model free adaptive iterative learning control scheme for a class of unknown nonlinear systems with randomly varying iteration lengths. By applying the dynamic linearization technique along the iteration axis, such systems can be transformed into iteration-depended time varying linear systems. Then, an improved model free adaptive iterative learning control scheme can be constructed only using input and output data of the system. From the rigorous theoretical analysis, it is shown that the mathematical expectation of tracking errors converge to zero as iteration increases. This design does not require any dynamic information of the ILC systems and prior information of randomly varying iteration lengths. An illustrative example verifies the effectiveness of the proposed design. |
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| Keywords: | Corresponding author at: School of Electrical Engineering & Automation Henan Polytechnic University Jiaozuo China |
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