Brief Robust learning control for a class of nonlinear systems with periodic and aperiodic uncertainties

Authors:
Yu-Ping Tian;Xinghuo Yu
Affiliations:
Department of Automatic Control, Southeast University, Nanjing 210096, People's Republic of China;Faculty of Engineering, Royal Melbourne Institute of Technology, GPO Box 2476V, City Campus, Melbourne VIC 3001, Australia
Venue:
Automatica (Journal of IFAC)
Year:
2003

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Abstract

This paper addresses the robust learning control problem for a class of nonlinear systems with structured periodic and unstructured aperiodic uncertainties. A recursive technique is proposed which extends the backstepping idea to the robust repetitive learning control systems. A learning evaluation function instead of a Lyapunov function is formulated as a guideline for derivation of the control strategy which guarantees the asymptotic stability of the tracking system. A design example is given.