1998 | OriginalPaper | Buchkapitel
High-Order Iterative Learning Control of Discrete-Time Nonlinear Systems Using Current Iteration Tracking Error
verfasst von : Yangquan Chen, Jian-Xin Xu, Tong Heng Lee
Erschienen in: Iterative Learning Control
Verlag: Springer US
Enthalten in: Professional Book Archive
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A P-type iterative learning controller (ILC) which includes a current iteration tracking error (CITE) in its high-order updating law is proposed for the tracking control of repetitive uncertain discrete-time nonlinear systems. It is shown that, under relaxed conditions, the tracking error bounds are class-K functions of the bounds of uncertainty, disturbance and the initialization error. The tracking error bound and the ILC convergence rate are tunable by the CITE learning gain. Moreover, the tracking error bound is shown to be a classK function of the bounds of the differences of initialization errors, uncertainties, and disturbances between two successive ILC repetitions. The effectiveness of the proposed ILC scheme is illustrated by simulation results of a single-link manipulator.