Adaptive Iterative Learning Control for a Class of Nonlinear Systems with Unknown Control Directions

• DOI: 10.2174/1874444300801010020
• Publication Date: 2008-05-21T15:23:49Z
• Authors: P. Jiang; Y. Q. Cheng
• Keywords: Iterative Learning Control

An adaptive iterative learning control(ILC) approach is proposed for a class of uncertain nonlinear systems without prior knowledge about system control directions.The Nussbaum-type gain and the positive definite discrete matrix kernel are dealing with selection unknown repeatable uncertainties, respectively.Asymptotic convergence trajectory tracking within finite time interval achieved through repetitive tracking.Simulations carried out to show validity method.