Non-uniform Trajectory Tracking AILC for Nonlinear Time-varying Parameter System with Multiple Unknown Control Directions

Chunli Zhang; Yangjie Gao; Lei Yan

doi:10.61383/ejam.20231127

Authors

Chunli Zhang Xi’an University of Technology, Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Corresponding Author
Yangjie Gao Xi’an University of Technology, Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing
Lei Yan Xi’an University of Technology, Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing

DOI:

https://doi.org/10.61383/ejam.20231127

Keywords:

Iterative learning control, Time-varying parameter systems, Lyapunov-like, Multiple unknown control directions, Non-uniform target tracking

Abstract

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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