An ILC-Based Adaptive Control for General Stochastic Systems With Strictly Decreasing Entropy

In this paper, a new method for adaptive control of general nonlinear and non-Gaussian unknown stochastic systems has been proposed. The method applies the minimum entropy control scheme to decrease the closed-loop randomness of the output under an iterative learning control (ILC) basis. Both modeling and control of the plant are performed using dynamic neural networks. For this purpose, the whole control horizon is divided into a certain number of time domain subintervals called batches and a pseudo-D-type ILC law is employed to train the plant model and controller parameters so that the entropy of the closed-loop tracking error is made to decrease batch by batch. The method has the advantage of decreasing the output uncertainty versus the advances of batches along the time horizon. The analysis on the proposed ILC convergence is made and a set of demonstrable experiment results is also provided to show the effectiveness of the obtained control algorithm, where encouraging results have been obtained.