控制理论与应用2012，Vol.29Issue(6)：730-740,11.
控制方向未知的二阶时变非线性系统自适应迭代学习控制
Adaptive iterative learning-control for second-order time-varying nonlinear system with unknown control directions
摘要
Abstract
We investigate the adaptive iterative learning control for a class of second-order strict-feedback nonlinear systems with non-periodically time-varying parameterized uncertainties and unknown control directions. Firstly, a neural network estimator is proposed to approximate unknown non-periodically time-varying nonlinear functions. Subsequently, Nussbaum function is applied to estimate the control directions adaptively. At the same time, the backstepping and adaptive iterative learning control technique are combined to design the controller. The controller guarantees that all state variables are bounded in Lpe-norm and the output tracks the desired trajectory perfectly in LT2-norm. Finally, the effectiveness of proposed scheme is validated by simulation research.关键词
迭代学习控制/自适应控制/时变不确定性/神经网络/Nussbaum增益Key words
iterative learning control/ adaptive control/ time-varying uncertainties/ neural networks/ Nussbaum gain分类
信息技术与安全科学引用本文复制引用
李静,胡云安,耿宝亮..控制方向未知的二阶时变非线性系统自适应迭代学习控制[J].控制理论与应用,2012,29(6):730-740,11.基金项目
国家自然科学基金资助项目(61004002). （61004002）
