Error tracking-driven adaptive backstepping ILC of nonlinear systems with initial shifts

Key Words:ITERATIVE LEARNING CONTROL; TRAJECTORY TRACKING; MULTIAGENT SYSTEMS; CONSENSUS CONTROL; STATE; ROBOTS; INPUT

Abstract:High-order nonlinear systems can describe various practically physical systems, such as tower crane, robot manipulator, high-speed train, satellite system and complex network. Hence, it is important to investigate the control problems for such systems. Moreover, a high precision control objective is required in the applications of satellite positioning, metal cutting, chemical processing, etc. Therefore, under the framework of backstepping technique, this paper proposes an ETD-based adaptive ILC control towards achieving a perfect tracking performance. Furthermore, by using ETD and STD methods, the problems with regard to the identical initial condition and differential explosion caused by the consecutive derivation of virtual controller can be handled well. As a result, the proposed ETD-ABILC can be easily applied to practical systems.

Volume:362

Issue:2

Translation or Not:no