Adaptive iterative learning control for the robust output regulation of a flexible wing system
MENG Ting-ting
ZHANG Yi-peng
ZHANG Shuang
Abstract：Flexible wings are used to generate external aerodynamic forces and moments for flapping wing robots,and the robust output regulation of the wings is thus of great significance to the maneuverability and endurance.For the flexible wing described by a distributed parameter system,two adaptive iterative learning controls(ILCs)are proposed to address the unknown periodic disturbances and guarantee that the bending displacement and twisting displacement track references.In this paper,both unknown disturbances and reference trajectories are supposed to be generated by an exosystem.When the matrix of exosystem is known,the adaption laws are designed to estimate the unknown coefficients of disturbances which gives the first adaptive ILCs.For the unknown matrix,the adaption laws need to estimate the time-varying periodic functions,and then the second adaptive control is obtained.Since both cases can be addressed by the internal model control,the differences from the adaptive ILCs are further explained in this paper.Based on Lyapunov's method,the convergence of tracking error is proved in the iterative domain,as well as the boundedness of closed-loop system.There are two sets of simulation examples to verify the effectiveness of two adaptive ILCs.
Keywords：robust controlflexible wingsadaptive control systemsiterative methodsoutput regulation
Publication Date：2025-03-31
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：9( 482-490 )