Novel adaptive iterative learning control design targeting unknown time-delays and non-square control gains

This work aims at the adaptive iterative learning control (AILC) design for a class of nonlinear systems subject to unknown non-square control gains and unknown time-delays. Based on the newly introduced model transformation technique, the unknown non-square control gain matrix is transformed into a...

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Vydáno v:	Journal of the Franklin Institute Ročník 362; číslo 13; s. 107937
Hlavní autoři:	Shen, Ruohan, Li, Xuefang, Li, Xiao-Dong
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	Elsevier Inc 15.08.2025
Témata:	Adaptive iterative learning control Non-square systems Time-delays Unknown control gains Adaptive iterative learning control Time-delays Unknown control gains Non-square systems
ISSN:	0016-0032
On-line přístup:	Získat plný text
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Popis
Shrnutí:	This work aims at the adaptive iterative learning control (AILC) design for a class of nonlinear systems subject to unknown non-square control gains and unknown time-delays. Based on the newly introduced model transformation technique, the unknown non-square control gain matrix is transformed into a norm-bounded uncertainty. Then the AILC scheme is developed based on the modified system dynamics, which is also effective in dealing with the unknown time-delays. Furthermore, based on the proposed design framework, a unified AILC strategy is developed, which is widely applicable to both square and non-square nonlinear systems. The convergence of the proposed AILC approach is analyzed rigorously by applying the Lyapunov-Krasovskii-like composite energy function (CEF) method, and the effectiveness is illustrated via numerical examples.
ISSN:	0016-0032
DOI:	10.1016/j.jfranklin.2025.107937