Hybrid Adaptive Iterative Learning Control of Non-uniform Trajectory Tracking for Nonlinear Time-delay Systems

A novel adaptive iterative learning control approach is proposed for a class of hybrid parametric nonlinear time-delay systems. The approach consisted of a differential-deference type updating law and a learning control law, can deal with the non-uniform trajectory tracking problem, in which avoids the restricted on the tracking trajectory in the traditional ILC. A sufficient condition of tracking error converging to zero in the means of mean-square on the finite interval is also given by constructing a novel composite energy function. A simulation example shows the feasibility and efficiency of the approach.