Learning control for nonlinear systems with unknown control direction and unknown time-varying delay
LI Guang-yin
YANG Yang
Abstract：In this work, we propose an adaptive iterative learning control algorithm for a class of nonlinearly parameter-ized systems with unknown control direction and unknown time-varying delay. The existing unknown time-varying delay is well resolved by using parameter separation method and signal replacement mechanism in the process of the design, and the lack of a priori knowledge of the control direction is also dealt with by the Nussbaum-gain technique incorporated into the control design. Moreover, both difference and differential updating laws are configured for the estimates of the unknown time-varying parameter and the constant parameter. Then based on a constructed Lyapunov-Krasovskii compos-ite energy function, a sufficient condition of the convergence of the system error asymptotically along the iteration axis and the boundedness of all signals in the closed-loop system is given. A simulation example is presented to validate the effectiveness of the proposed control method.
Keywords：time-varying delayunknown control directionnonlinearly parameterized systemsNussbaum-gain tech-nique
Publication Date：2016-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 265-272 )