Singularity-free indirect iterative learning control

Author

Jiang, Ping ; Unbehauen, Rolf ; Woo, Peng-Yung

Author_Institution

Dept. of Inf. & Control Eng., Tongji Univ., Shanghai, China

Volume

5

fYear

2001

fDate

2001

Firstpage

4903

Abstract

We investigate trajectory tracking for a general multi-input nonlinear system, where there is no priori knowledge of the system parameters and the form of the nonlinear function. An identification-based indirect iterative learning control (ILC) scheme to repetitively estimate the linearity in a neighborhood of a desired trajectory is presented. How to avoid singularity for the system with unknown control direction during the learning process is discussed. A parameter modification procedure for the ILC is presented such that the determinant of the estimate of the input coupling matrix is uniformly bounded

Keywords

Jacobian matrices; adaptive control; identification; learning systems; multivariable control systems; nonlinear control systems; adaptive control; general multi-input nonlinear system; identification-based scheme; linearity; parameter modification procedure; singularity avoidance; singularity-free indirect iterative learning control; trajectory tracking; Adaptive control; Control engineering; Control systems; Iterative methods; Jacobian matrices; Linearity; Nonlinear systems; Parameter estimation; Robust control; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2001. Proceedings of the 40th IEEE Conference on

Conference_Location

Orlando, FL

Print_ISBN

0-7803-7061-9

Type

conf

DOI

10.1109/.2001.980985

Filename

980985