Technical Communique: Iterative learning control design without a priori knowledge of the control direction

Authors:
Jian-Xin Xu;Rui Yan
Affiliations:
Department of Electrical Engineering, National University of Singapore, 4 Engineering Drive 3, Singapore 117576, Singapore;Department of Electrical Engineering, National University of Singapore, 4 Engineering Drive 3, Singapore 117576, Singapore
Venue:
Automatica (Journal of IFAC)
Year:
2004

Citing 4
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Abstract

In this work we explore the possibility of designing a new iterative learning control scheme for systems without a priori knowledge of the control direction. By incorporating a Nussbaum-type function, a new learning control mechanism is constructed with both differential and difference updating laws. The new learning control mechanism can warrant a L"T^2 convergence of the tracking error sequence along the iteration axis, in the presence of time-varying parametric uncertainties and local Lipschitz nonlinearities.