Data-driven Adaptive Parameter Tuning of P-type ILC for Nonlinear Systems

Abstract:This paper presents an adaptive parameter tuning of P-type ILC for nonlinear systems. The obvious characteristic of the proposed ILC scheme is that the learning gain can be adaptively adjusted online using only input and output data without any model information. The parameter tuning method is data-driven. Compared with existing PID-type ILC, the proposed control algorithm is more adaptive to the external environment. With strict mathematical analysis, it can be obtained that the proposed ILC algorithm can guarantee the convergence of the tracking error iteratively. Simulations results verify the effectiveness of the proposed ILC scheme.

Translation or Not:no