DocumentCode
2521749
Title
Application of PILC to uncertain nonlinear systems for slowly varying desired trajectories
Author
Arif, Muhamimad ; Ishihara, Tadashi ; Inooka, Hikaru
Author_Institution
Tohoku Univ., Sendai, Japan
fYear
1998
fDate
29-31 Jul 1998
Firstpage
991
Lastpage
994
Abstract
An application of prediction based iterative learning control (PILC) is presented for tracking control of nonlinear uncertain systems. The desired trajectory is not fixed for all iterations and supposed to vary in the successive iterations. The variations are assumed to be slow. Conditions are derived for the convergence of PILC and it is proved that the uniform boundedness of the final tracking error can be obtained in the presence of uncertainty and slowly varying trajectories. The effectiveness of the proposed PILC is presented by simulations
Keywords
convergence; learning systems; nonlinear control systems; predictive control; time-varying systems; uncertain systems; prediction based iterative learning control; slowly varying trajectories; tracking control; tracking error; uncertain nonlinear systems; uniform boundedness; Control system synthesis; Control systems; Convergence; Error correction; Nonlinear control systems; Nonlinear systems; Time varying systems; Trajectory; Uncertain systems; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE '98. Proceedings of the 37th SICE Annual Conference. International Session Papers
Conference_Location
Chiba
Type
conf
DOI
10.1109/SICE.1998.742965
Filename
742965
Link To Document