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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| Vydané v: | Journal of the Franklin Institute Ročník 362; číslo 13; s. 107937 |
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| Jazyk: | English |
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15.08.2025
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| ISSN: | 0016-0032 |
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| Abstract | 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. |
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| AbstractList | 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. |
| ArticleNumber | 107937 |
| Author | Shen, Ruohan Li, Xuefang Li, Xiao-Dong |
| Author_xml | – sequence: 1 givenname: Ruohan orcidid: 0009-0005-2516-7485 surname: Shen fullname: Shen, Ruohan email: shenrh@mail2.sysu.edu.cn – sequence: 2 givenname: Xuefang orcidid: 0000-0003-3898-6509 surname: Li fullname: Li, Xuefang email: lixuef25@mail.sysu.edu.cn – sequence: 3 givenname: Xiao-Dong surname: Li fullname: Li, Xiao-Dong email: lixd@mail.sysu.edu.cn |
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| Cites_doi | 10.1016/j.automatica.2006.02.001 10.1109/TAC.2018.2874877 10.1109/TAC.2023.3326707 10.1007/s11071-022-07713-y 10.1109/TAC.2012.2223353 10.1016/j.jfranklin.2015.03.014 10.1109/TAC.2002.804460 10.1002/acs.2380 10.1109/TNNLS.2021.3136644 10.1109/JAS.2014.7004688 10.1016/j.jfranklin.2024.106923 10.1016/j.automatica.2004.05.010 10.1109/TITS.2022.3176970 10.1109/TCYB.2021.3106793 10.1002/acs.2312 10.1109/TCYB.2020.2966625 10.1016/j.jfranklin.2019.04.034 10.1016/j.isatra.2017.05.007 10.1109/TAC.2023.3335243 10.1109/TVT.2023.3274672 10.1109/TASE.2014.2371816 10.1007/s12555-010-0201-0 10.1109/TFUZZ.2024.3368352 10.1109/TAC.2015.2508741 10.1109/TAC.2007.906215 10.1109/TCYB.2020.2986006 10.1109/TNNLS.2018.2861216 10.1109/TFUZZ.2007.902021 10.1016/j.automatica.2006.08.003 |
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| Keywords | Adaptive iterative learning control Time-delays Unknown control gains Non-square systems |
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| StartPage | 107937 |
| SubjectTerms | Adaptive iterative learning control Non-square systems Time-delays Unknown control gains |
| Title | Novel adaptive iterative learning control design targeting unknown time-delays and non-square control gains |
| URI | https://dx.doi.org/10.1016/j.jfranklin.2025.107937 |
| Volume | 362 |
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