Non-uniform Trajectory Tracking AILC for Nonlinear Time-varying Parameter System with Multiple Unknown Control Directions
DOI:
https://doi.org/10.61383/ejam.20231127Keywords:
Iterative learning control, Time-varying parameter systems, Lyapunov-like, Multiple unknown control directions, Non-uniform target trackingAbstract
In this paper, a new iterative learning controller is presented for nonlinear time-varying parameter system to solve the tracking problem of different target trajectories. Based on Nussbaum function and the Lyapunov-like synthesis design the learning controller to handle system dynamics with multi-unknown control directions. Over a finite time interval, the unknown time-varying parameter is considered to be periodic, so it is expanded using a Fourier series expansion, and the remaining terms are treated with a canonical series. The controller designed in this paper can ensure that all signals of the closed-loop system are bounded in a finite time interval [0,T], and can complete non-uniform target tracking. Finally, a simulation example is given to verify the effectiveness of the designed controller.
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Copyright (c) 2023 Chunli Zhang (Corresponding Author); Yangjie Gao, Lei Yan

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