Iterative learning control for nonlinear systems with uncertain state delay and arbitrary initial er

• 作 者: Hongbin WANG Yah WANG
• 机 构: Key Laboratory of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qin
• 出 处: 控制理论与应用（英文版）
• 发表日期: 2011年4期
• 关键词: Iterative learning control State-delay system Initial condition Uncertain distur

Most of the existing iterative leing control algorithms proposed for time-delay systems are based on the condition that the time-delay is precisely available,and the initial state is reset to the desired one or a fixed value at the start of each operation,which makes great limitation on the practical application of corresponding results.In this paper,a new iterative leing control algorithm is studied for a class of nonlinear system with uncertain state delay and arbitrary initial error.This algorithm needs to know only the boundary estimation of the state delay,and the initial state is updated,while the convergence of the system is guaranteed.Without state disturbance and output measurement noise,the system output will strictly track the desired trajectory after successive iteration.Furthermore,in the presence of state disturbance and measurement noise,the tracking error will be bounded uniformly.The convergence is strictly proved mathematically,and sufficient conditions are obtained.A numerical example is shown to demonstrate the effectiveness of the proposed approach.