Non-uniform Trajectory Tracking AILC for Nonlinear Time-varying Parameter System with Multiple Unknown Control Directions
Chunli Zhang,
Yangjie Gao,
Lei Yan
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… Show more
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