Journal
INTERNATIONAL JOURNAL OF AUTOMATION AND COMPUTING
Volume 11, Issue 6, Pages 621-626Publisher
SPRINGERNATURE
DOI: 10.1007/s11633-014-0819-0
Keywords
Iterative learning control; time-varying systems; Lyapunov-like; non-uniform trajectory tracking; Fourier series expansion; backstepping
Funding
- National Natural Science Foundation of China [60974139]
- Fundamental Research Funds for the Central Universities [72103676]
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In this paper, an iterative learning control strategy is presented for a class of nonlinear time-varying systems, the time-varying parameters are expanded into Fourier series with bounded remainder term. The backstepping design technique is used to deal with system dynamics with non-global Lipschitz nonlinearities and the approach proposed in this paper solves the non-uniform trajectory tracking problem. Based on the Lyapunov-like synthesis, the proposed method shows that all signals in the closed-loop system remain bounded over a pre-specified time interval [0, T]. And perfect non-uniform trajectory tracking of the system output is completed. A typical series is introduced in order to deal with the unknown bound of remainder term. Finally, a simulation example shows the feasibility and effectiveness of the approach.
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