Observer-Based Adaptive Neural Iterative Learning Control for a Class of Time-Varying Nonlinear Systems

doi:10.1007/s12204-017-1836-2

摘要/Abstract

摘要： In this paper an adaptive iterative learning control scheme is presented for the output tracking of a class of nonlinear systems. An observer is designed to estimate the tracking errors. A mixed time domain and s-domain representation is constructed to derive an error model with relative degree one for our purpose. And time-varying radial basis function neural network is employed to deal with system uncertainty. A new signal is constructed by using a first-order filter, which removes the requirement of strict positive real (SPR) condition and identical initial condition of iterative learning control. Based on property of hyperbolic tangent function, the system tracing error is proved to converge to the origin as the iteration tends to infinity by constructing Lyapunov-like composite energy function, while keeping all the closed-loop signals bounded. Finally, a simulation example is presented to verify the effectiveness of the proposed approach.

关键词: adaptive iterative learning control (AILC), time-varying nonlinear systems, output tracking, observer, filter

Abstract: In this paper an adaptive iterative learning control scheme is presented for the output tracking of a class of nonlinear systems. An observer is designed to estimate the tracking errors. A mixed time domain and s-domain representation is constructed to derive an error model with relative degree one for our purpose. And time-varying radial basis function neural network is employed to deal with system uncertainty. A new signal is constructed by using a first-order filter, which removes the requirement of strict positive real (SPR) condition and identical initial condition of iterative learning control. Based on property of hyperbolic tangent function, the system tracing error is proved to converge to the origin as the iteration tends to infinity by constructing Lyapunov-like composite energy function, while keeping all the closed-loop signals bounded. Finally, a simulation example is presented to verify the effectiveness of the proposed approach.

Key words: adaptive iterative learning control (AILC), time-varying nonlinear systems, output tracking, observer, filter

中图分类号:

TP 273

WEI Jianming1* (韦建明), ZHANG Youan2 (张友安), LIU Jingmao3 (刘京茂). Observer-Based Adaptive Neural Iterative Learning Control for a Class of Time-Varying Nonlinear Systems[J]. 上海交通大学学报（英文版）, 2017, 22(3): 303-312.

WEI Jianming1* (韦建明), ZHANG Youan2 (张友安), LIU Jingmao3 (刘京茂). Observer-Based Adaptive Neural Iterative Learning Control for a Class of Time-Varying Nonlinear Systems[J]. Journal of shanghai Jiaotong University (Science), 2017, 22(3): 303-312.

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