Fuzzy Adaptive Iterative Learning Control Algorithm

Fuzzy control algorithm has a good performance in robustness, but it is difficult to achieve higher control precision. Iterative learning control can achieve higher precision with bad robustness. In this paper, a new algorithm is presented combining fuzzy control with iterative learning control. The new algorithm is a P-type iterative learning control in nature, with error gain self-tuning by fuzzy control. The fuzzy control does not use the error rate in order to improve system robustness and avoid differential disturbance. Simulations illustrate the effectiveness and convergence of the new algorithm. The new algorithm has a good performance in robustness with impulse disturbance or persistent random disturbance