Sliding mode iterative learning control for non-linear systems with uncertainties
by Yu Liu; Hong Wang
International Journal of Systems, Control and Communications (IJSCC), Vol. 4, No. 3, 2012

Abstract: A new sliding mode-based iterative learning control algorithm is proposed and its stability is proved. An important characteristic of the algorithm is that the entire control signal is comprised of the sliding mode part and the iterative learning part, while the current signal of the iterative part is computed by its previous value and the sliding mode error. As a result, repeatable disturbances are cancelled out by the iterative learning part, while non-repeatable uncertainties are dealt with by the sliding mode part. The effectiveness is illustrated by simulations.

Online publication date: Sat, 23-Aug-2014

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