Title :
Robust adaptive iterative learning control for a class of second order uncertain nonlinear systems
Author :
Ping, Liu ; Yu, Guo ; Yan, Hu ; Zhenrong, Xiang
Author_Institution :
Sch. of Autom., Nanjing Univ. of Sci. & Technol., Nanjing
Abstract :
Based on Lyapunov stability theory and backstepping technology, a robust adaptive iterative learning control algorithm is proposed for a class of second order nonlinear systems with unknown disturbance and time-varying parameters. The unknown parameters are estimated in time-domain and the disturbance is inhibited by robust control. Feedback control is also introduced to improve the control performance. The algorithm is suitable for systems both under identical initial condition and alignment condition. Simulation results show the effectiveness of the algorithm.
Keywords :
Lyapunov methods; adaptive control; feedback; nonlinear systems; robust control; stability; time-varying systems; uncertain systems; Lyapunov stability theory; backstepping technology; feedback control; robust adaptive iterative learning control; second order uncertain nonlinear systems; time-varying parameters; Adaptive control; Backstepping; Control systems; Iterative algorithms; Lyapunov method; Nonlinear control systems; Nonlinear systems; Programmable control; Robust control; Robust stability; Backstepping technology; Lyapunov stability; Robust adaptive iterative learning control; Uncertain nonlinear system;
Conference_Titel :
Control Conference, 2008. CCC 2008. 27th Chinese
Conference_Location :
Kunming
Print_ISBN :
978-7-900719-70-6
Electronic_ISBN :
978-7-900719-70-6
DOI :
10.1109/CHICC.2008.4605140