Please use this identifier to cite or link to this item: https://doi.org/10.1016/S0005-1098(99)00100-4
Title: Adaptive robust iterative learning control with dead zone scheme
Authors: Xu, J.-X. 
Viswanathan, B.
Issue Date: Jan-2000
Citation: Xu, J.-X., Viswanathan, B. (2000-01). Adaptive robust iterative learning control with dead zone scheme. Automatica 36 (1) : 91-99. ScholarBank@NUS Repository. https://doi.org/10.1016/S0005-1098(99)00100-4
Abstract: An adaptive robust iterative learning control method based on a new dead-zone scheme is presented for the control of nonlinear uncertain systems. The new dead-zone scheme ceases both learning and adaptation whenever the previous iteration error enters a pre-specified error bound, in the sequel enhances the robustness of the control system and meanwhile achieves arbitrary tracking accuracy. For guaranteed stability, it is indicated that the system will converge to the error bound within finite iterations and stay inside it, and that the boundedness of the system signals for any iteration is ensured (no finite escape time). Iterative learning control (ILC) and adaptive robust control are synthesized to achieve a new control paradigm. The iterative learning control strategy is applied directly to deal with structured system uncertainties - unknown time functions which are invariant over iterations. The adaptive robust control strategy is used to handle non-periodic system uncertainties associated with partially known bounding functions, where the unknown parameters in the upper bounding functions are estimated with adaptation. By integrating learning, adaptation, robust control and the new dead-zone scheme using Lyapunov's direct method, the proposed scheme is able to handle fairly broad classes of nonlinear uncertain systems.
Source Title: Automatica
URI: http://scholarbank.nus.edu.sg/handle/10635/61771
ISSN: 00051098
DOI: 10.1016/S0005-1098(99)00100-4
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

93
checked on Jul 13, 2018

WEB OF SCIENCETM
Citations

68
checked on Jun 12, 2018

Page view(s)

27
checked on Jul 6, 2018

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.