Title :
An Adaptive Iterative Learning Control Framework for a Class of Uncertain Nonlinear Systems
Author :
Tayebi, Abdelhamid ; Chien, Chiang-Ju
Author_Institution :
Dept. of Electr. Eng., Lakehead Univ.
Abstract :
In this paper, we propose a unified framework for adaptive iterative learning control design for uncertain nonlinear systems. It is shown that if a Lyapunov based adaptive control law is available for the system under consideration and the Lyapunov function satisfies certain conditions, it is straightforward to extend the adaptive controller to handle repetitive systems operating over a finite time interval. According to the value of a certain parameter gamma, the parametric adaptation law can be a pure time-domain adaptation, a pure iteration-domain adaptation or a combination of both. The advantages and disadvantages of the three possible adaptation types are discussed and some illustrative examples are given
Keywords :
Lyapunov methods; adaptive control; learning systems; nonlinear control systems; uncertain systems; Lyapunov based adaptive control; adaptive iterative learning control; iteration-domain adaptation; time-domain adaptation; uncertain nonlinear system; Adaptive control; Control design; Control systems; Convergence; Lyapunov method; Nonlinear control systems; Nonlinear systems; Programmable control; Time domain analysis; USA Councils;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.376961