Pulse compensated iterative learning control to nonlinear systems with initial state uncertainty
Release Time:2025-04-30
Hits:
- Date:
- 2025-04-30
- Title of Paper:
- Pulse compensated iterative learning control to nonlinear systems with initial state uncertainty
- Journal:
- 控制理论与应用
- Summary:
- A type of rectangular pulse is adopted to compensate for conventional proportional-derivative-type firstorder
and second-order iterative learning controllers of nonlinear time-invariant systems with initial state uncertainty. The
tracking error is measured in the form of Lebesgue-p norm and the tracking performance is analyzed by the technique of
generalized Young inequality of convolution integral. The analysis shows that the asymptotical tracking error is incurred by
the initial state uncertainty and can be eliminated by tuning the compensation gain in the presuppose that the proportional
and derivative learning gains together with the Lipschitz constant of the nonlinear state function are properly chosen to
guarantee that convergence factor is less than one. Numerical simulations exhibit the validity of the theoretical derivation
and the effectiveness of the compensation strategy.
- Co-author:
- RUAN Xiao-e, ZHAO Jian-yong
- Volume:
- Vol. 29， No. 8
- Page Number:
- 993-1000
- Translation or Not:
- No
- Date of Publication:
- 2012-09-19