SMC-based Data-driven Terminal ILC for Nonlinear Discrete-time Systems with Unavailable Intermediate Measurements

Abstract:In this work, a new terminal iterative learning control is proposed by incorporating the sliding mode control(SMC) to address for the system uncertainties. The learning control system design and analysis is provided directly for a class of nonlinear and nonaffine discrete-time systems via a data-driven method by passing modeling steps. An iterative sliding surface with respect of terminal output error is developed at first. The terminal learning control is then attained by designing and minimizing an objective function with the sliding surface. The robustness of the proposed method is guaranteed by rigorously theoretical analysis and is further verified by simulation results provided in this work.

Translation or Not:no