Robust adaptive repetitive learning control for a class of time-varying nonlinear systems with unknown control direction-中国期刊网

摘要 Arobustadaptiverepetitivelearningcontrolmethodisproposedforaclassoftime-varyingnonlinearsystems.Nussbaum-gainmethodisincorporatedintothecontroldesigntocounteractthelackofaprioriknowledgeofthecontroldirectionwhichdeterminesthemotiondirectionofthesystemunderanyinput.Itisshownthatthesystemstatecouldconvergetothedesiredtrajectoryasymptoticallyalongtheiterationaxisthroughrepetitivelearning.Simulationiscarriedouttoshowthevalidityoftheproposedcontrolmethod.

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Robust adaptive repetitive learning control for a class of time-varying nonlinear systems with unknown control direction

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Robust adaptive repetitive learning control for a class of time-varying nonlinear systems with unknown control direction

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