A New AILC for a Class of Nonlinearly Parameterized Systems with Unknown Delays and Input Dead-Zone
This paper presents an adaptive iterative learning control (AILC) scheme for a class of nonlinear systems with unknown time-varying delays and unknown input dead-zone. A novel nonlinear form of deadzone nonlinearity is presented. The assumption of identical initial condition for ILC is removed by in...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2014-01-01
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| Series: | Journal of Applied Mathematics |
| Online Access: | http://dx.doi.org/10.1155/2014/238018 |
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| Summary: | This paper presents an adaptive iterative learning control (AILC) scheme for a class of nonlinear systems with unknown time-varying delays and unknown input dead-zone. A novel nonlinear form of deadzone nonlinearity is presented. The assumption of identical initial condition for ILC is removed by introducing boundary layer functions. The uncertainties with time-varying delays are compensated for with assistance of appropriate Lyapunov-Krasovskii functional and Young’s inequality. The hyperbolic tangent function is employed to avoid the possible singularity problem. According to a property of hyperbolic tangent function, the system output is proved to converge to a small neighborhood of the desired trajectory by constructing Lyapunov-like composite energy function (CEF) in two cases, while maintaining all the closed-loop signals bounded. Finally, a simulation example is presented to verify the effectiveness of the proposed approach. |
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| ISSN: | 1110-757X 1687-0042 |