A P-type iterative learning controller for robust output tracking of nonlinear time-varying systems
作者:
CHIANG-JU CHIEN,
JING-SIN LIU,
期刊:
International Journal of Control
(Taylor Available online 1996)
卷期:
Volume 64,
issue 2
页码: 319-334
ISSN:0020-7179
年代: 1996
DOI:10.1080/00207179608921630
出版商: Taylor & Francis Group
数据来源: Taylor
摘要:
A new P-type iterative learning controller using the concept of the forgetting factor and current error modification is proposed in this paper for robust output tracking of uncertain nonlinear time-varying systems. The robustness, convergence and performance of this P-type learning control scheme are completely studied via a systematic approach. It is shown that uniform boundedness between the system output and the desired output is achieved in each iterate. Under some conditions on the uncertainties, the residual set of the tracking error on the final iterate can be shown to be a classKfunction of the forgetting factor. When all the uncertainties and the forgetting factor tend to zero, the system output will converge uniformly to the desired one.
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