Details

Autor(en) / Beteiligte

• Wu, Lingwei
• Yu, Youfang
• Lin, Zhiming
• Yan, Qiuzhen
• Liu, Xiangbin

Titel

Time-Varying Boundary Layer Based Iterative Learning Control for Nonlinearly Parametric Time-Delay Systems With Arbitrary Initial Errors and Iteration-Varying Reference Trajectories

Ist Teil von

• IEEE access, 2021, Vol.9, p.90642-90655

Ort / Verlag

Piscataway: IEEE

Erscheinungsjahr

2021

Quelle

EZB Electronic Journals Library

Beschreibungen/Notizen

• In this paper, the tracking problem for a class of nonlinearly parametric time-delay systems with arbitrary initial state errors and iteration-varying reference trajectories is studied. An adaptive iterative learning control scheme is developed by using Lyapunov approach. A time-varying boundary layer is constructed for removing the zero initial error condition, which is necessary in normal iterative learning control algorithms. The time-varying nonlinearly parametric uncertainties and time-delay uncertainties are well compensated by using parameter separation technique, signal replacement mechanism and robust strategy. As the iteration number increases, the state tracking error asymptotically converges to a tunable residual set. In the end, a simulation example further verifies the theoretical results.