Unified iterative learning control schemes for nonlinear dynamic systems with nonlinear input uncertainties
Ying Tan, Hao-Hui Dai, Deqing Huang, Jian-Xin Xu
AUTOMATICA | PERGAMON-ELSEVIER SCIENCE LTD | Published : 2012
In many ILC algorithms, nonlinear input uncertainties such as saturation, dead-zone and hysteresis, which do exist due to practical implementations, are always ignored. Although various ILC algorithms have been proposed to compensate various nonlinear input uncertainties, a systematic design framework is still missing. This note presents a unified design framework to deal with very general nonlinear input uncertainties. The concept of a dual-loop ILC is introduced. One ILC loop (ILC Loop 1) is designed for the nominal model without nonlinear input uncertainties. The other ILC loop (ILC Loop 2) uses some iterative algorithms to handle nonlinear input uncertainties. Two ILC loops can be design..View full abstract
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Awarded by Australian Research Council (ARC)
This work is supported by the Australian Research Council (ARC) Discovery Future Fellow Project (FT) FT0991385. The material in this paper was not presented at any conference. This paper was recommended for publication in revised form by Associate Editor Changyun Wen under the direction of Editor Miroslav Krstic.