Title :
Application of PILC to uncertain nonlinear systems for slowly varying desired trajectories
Author :
Arif, Muhamimad ; Ishihara, Tadashi ; Inooka, Hikaru
Author_Institution :
Tohoku Univ., Sendai, Japan
Abstract :
An application of prediction based iterative learning control (PILC) is presented for tracking control of nonlinear uncertain systems. The desired trajectory is not fixed for all iterations and supposed to vary in the successive iterations. The variations are assumed to be slow. Conditions are derived for the convergence of PILC and it is proved that the uniform boundedness of the final tracking error can be obtained in the presence of uncertainty and slowly varying trajectories. The effectiveness of the proposed PILC is presented by simulations
Keywords :
convergence; learning systems; nonlinear control systems; predictive control; time-varying systems; uncertain systems; prediction based iterative learning control; slowly varying trajectories; tracking control; tracking error; uncertain nonlinear systems; uniform boundedness; Control system synthesis; Control systems; Convergence; Error correction; Nonlinear control systems; Nonlinear systems; Time varying systems; Trajectory; Uncertain systems; Uncertainty;
Conference_Titel :
SICE '98. Proceedings of the 37th SICE Annual Conference. International Session Papers
Conference_Location :
Chiba
DOI :
10.1109/SICE.1998.742965
