Observer-based Adaptive Iterative Learning Control for Nonlinear Systems with Time-varying Delays

Wei-Sheng Chen Rui-Hong Li Jing Li

Wei-Sheng Chen, Rui-Hong Li, Jing Li. Observer-based Adaptive Iterative Learning Control for Nonlinear Systems with Time-varying Delays[J]. 国际自动化与计算杂志(英)/International Journal of Automation and Computing, 2010, 7(4): 438-446. doi: 10.1007/s11633-010-0525-5
引用本文: Wei-Sheng Chen, Rui-Hong Li, Jing Li. Observer-based Adaptive Iterative Learning Control for Nonlinear Systems with Time-varying Delays[J]. 国际自动化与计算杂志(英)/International Journal of Automation and Computing, 2010, 7(4): 438-446. doi: 10.1007/s11633-010-0525-5
Wei-Sheng Chen, Rui-Hong Li and Jing Li. Observer-based Adaptive Iterative Learning Control for Nonlinear Systems with Time-varying Delays. International Journal of Automation and Computing, vol. 7, no. 4, pp. 438-446, 2010 doi:  10.1007/s11633-010-0525-5
Citation: Wei-Sheng Chen, Rui-Hong Li and Jing Li. Observer-based Adaptive Iterative Learning Control for Nonlinear Systems with Time-varying Delays. International Journal of Automation and Computing, vol. 7, no. 4, pp. 438-446, 2010 doi:  10.1007/s11633-010-0525-5

Observer-based Adaptive Iterative Learning Control for Nonlinear Systems with Time-varying Delays

doi: 10.1007/s11633-010-0525-5
基金项目: 

supported by National Natural Science Foundation of China(No.60804021,No.60702063)

Observer-based Adaptive Iterative Learning Control for Nonlinear Systems with Time-varying Delays

Funds: 

supported by National Natural Science Foundation of China(No.60804021,No.60702063)

More Information
    Corresponding author: Wei-Sheng Chen received the B.Sc.degree in 2000 from the Department of Mathematics of Qufu Normal University,Qufu, PRC,and the M.Sc.and Ph.D.
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出版历程
  • 收稿日期:  2009-02-24
  • 修回日期:  2009-08-10
  • 刊出日期:  2010-10-15

Observer-based Adaptive Iterative Learning Control for Nonlinear Systems with Time-varying Delays

doi: 10.1007/s11633-010-0525-5
    基金项目:

    supported by National Natural Science Foundation of China(No.60804021,No.60702063)

摘要: 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.

English Abstract

Wei-Sheng Chen, Rui-Hong Li, Jing Li. Observer-based Adaptive Iterative Learning Control for Nonlinear Systems with Time-varying Delays[J]. 国际自动化与计算杂志(英)/International Journal of Automation and Computing, 2010, 7(4): 438-446. doi: 10.1007/s11633-010-0525-5
引用本文: Wei-Sheng Chen, Rui-Hong Li, Jing Li. Observer-based Adaptive Iterative Learning Control for Nonlinear Systems with Time-varying Delays[J]. 国际自动化与计算杂志(英)/International Journal of Automation and Computing, 2010, 7(4): 438-446. doi: 10.1007/s11633-010-0525-5
Wei-Sheng Chen, Rui-Hong Li and Jing Li. Observer-based Adaptive Iterative Learning Control for Nonlinear Systems with Time-varying Delays. International Journal of Automation and Computing, vol. 7, no. 4, pp. 438-446, 2010 doi:  10.1007/s11633-010-0525-5
Citation: Wei-Sheng Chen, Rui-Hong Li and Jing Li. Observer-based Adaptive Iterative Learning Control for Nonlinear Systems with Time-varying Delays. International Journal of Automation and Computing, vol. 7, no. 4, pp. 438-446, 2010 doi:  10.1007/s11633-010-0525-5
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