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

Wei-Sheng Chen; Rui-Hong Li; Jing Li

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

1.
Department of Applied Mathematics, Xidian University, Xi'an 710071, PRC

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

1.
Department of Applied Mathematics, Xidian University, Xi'an 710071, PRC

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.

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.
- Adaptive iterative learning control (AILC) /
- nonlinearly parameterized systems /
- time-varying delays /
- Lyapunov-Krasovskii-like composite energy function
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.
- Adaptive iterative learning control (AILC) /
- nonlinearly parameterized systems /
- time-varying delays /
- Lyapunov-Krasovskii-like composite energy function

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

doi: 10.1007/s11633-010-0525-5

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

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

doi: 10.1007/s11633-010-0525-5

1. Department of Applied Mathematics, Xidian University, Xi'an 710071, PRC

English Abstract

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

1. Department of Applied Mathematics, Xidian University, Xi'an 710071, PRC

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

doi: 10.1007/s11633-010-0525-5

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

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

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

doi: 10.1007/s11633-010-0525-5

1. Department of Applied Mathematics, Xidian University, Xi'an 710071, PRC

English Abstract

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

1. Department of Applied Mathematics, Xidian University, Xi'an 710071, PRC

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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