A new AILC for a class of nonlinearly parameterized systems with unknown delays and input dead-zone. (English) Zbl 1437.93059

Summary: This paper presents an adaptive iterative learning control (AILC) scheme for a class of nonlinear systems with unknown time-varying delays and unknown input dead-zone. A novel nonlinear form of deadzone nonlinearity is presented. The assumption of identical initial condition for ILC is removed by introducing boundary layer functions. The uncertainties with time-varying delays are compensated for with assistance of appropriate Lyapunov-Krasovskii functional and Young’s inequality. The hyperbolic tangent function is employed to avoid the possible singularity problem. According to a property of hyperbolic tangent function, the system output is proved to converge to a small neighborhood of the desired trajectory by constructing Lyapunov-like composite energy function (CEF) in two cases, while maintaining all the closed-loop signals bounded. Finally, a simulation example is presented to verify the effectiveness of the proposed approach.


93C40 Adaptive control/observation systems
93C10 Nonlinear systems in control theory
93B51 Design techniques (robust design, computer-aided design, etc.)
93E35 Stochastic learning and adaptive control
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