|Adaptive Iterative Learning Controller with Input Learning Technique for a Class of Uncertain MIMO Nonlinear Systems
Minsung Kim , Tae-Yong Kuc, Hyosin Kim and Jin S. Lee
International Journal of Control, Automation, and Systems, vol. 15, no. 1, pp.315-328, 2017
Abstract : "In this paper, an adaptive iterative learning controller (AILC) with input learning technique is presented
for uncertain multi-input multi-output (MIMO) nonlinear systems in the normal form. The proposed AILC learns
the internal parameter of the state equation as well as the input gain parameter, and also estimates the desired input
using an input learning rule to track the whole history of command trajectory. The features of the proposed control
scheme can be briefly summarized as follows: 1) To the best of authors’ knowledge, the AILC with input learning
is first developed for uncertain MIMO nonlinear systems in the normal form; 2) The convergence of learning
input error is ensured; 3) The input learning rule is simple; therefore, it can be easily implemented in industrial
applications. With the proposed AILC scheme, the tracking error and desired input error converge to zero as the
repetition of the learning operation increases. Single-link and two-link manipulators are presented as simulation
examples to confirm the feasibility and performance of the proposed AILC."
"Adaptive control, iterative learning control, multi-input multi-output systems, nonlinear systems, robot manipulators, uncertain systems."
Download PDF : Click this link