Title: Iterative learning tracking control for a class of MIMO nonlinear time-varying systems

Authors: Ruizi Ma; Guoshan Zhang

Addresses: School of Electrical Engineering and Automation, Tianjin University, 92 Weijin Road, Nankai District, Tianjin, 300072, China ' School of Electrical Engineering and Automation, Tianjin University, 92 Weijin Road, Nankai District, Tianjin, 300072, China

Abstract: Tracking control nonlinear systems with model-less controllers have attracted extensive attention in the research community. One frequently applied model-less controller technique is iterative learning tracking control. However, this technique has mostly been applied for controlling time-invariant systems, where the dynamic behaviour of the system would not change over time. In this article, the authors demonstrate a variable gain iterative learning control (VGILC) technique that is capable of continuously adjusting and effectively controlling multi-input and multi-output (MIMO) time-varying nonlinear systems. VGILC incorporates variable gain into the PD-type updating law to accelerate convergence speed. The convergence condition of the new learning law is presented and proved. The proposed approach improves the output tracking performance within a few trials. The effectiveness of the presented approach is demonstrated using modified robotic manipulators systems and its validity is proven.

Keywords: iteration learning control; nonlinear time-varying system; tracking control; variable gain.

DOI: 10.1504/IJMIC.2017.084721

International Journal of Modelling, Identification and Control, 2017 Vol.27 No.4, pp.271 - 278

Received: 09 Feb 2016
Accepted: 31 May 2016
Published online: 22 Jun 2017 *

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