A new dynamical linearization based adaptive ILC for nonlinear discrete-time MIMO systems
Date of Issue2012
International Conference on Control Automation Robotics & Vision (12th : 2012 : Guangzhou, China)
School of Electrical and Electronic Engineering
Most of the available results of adaptive iterative learning control (AILC) hitherto have considered the control systems with known linearly parameterized structures. A dynamical linearization approach is developed for a general nonlinear multiple input multiple output systems. And then a discrete-time adaptive ILC approach is presented to deal with the ILC problems of nonlinear MIMO systems with iteration-varying initial error and reference trajectory. The controller design and analysis is completely data-driven without using any modeling information of the plant, but the measured I/O data only. The almost perfect tracking performance is asymptotically guaranteed by rigirous mathematical analysis.
DRNTU::Engineering::Electrical and electronic engineering
© 2012 IEEE.