Iterative learning tracking control for a class of MIMO nonlinear time-varying systems
by Ruizi Ma; Guoshan Zhang
International Journal of Modelling, Identification and Control (IJMIC), Vol. 27, No. 4, 2017

Abstract: Tracking control nonlinear systems with model-less controllers have attracted extensive attention in the research community. One frequently applied model-less controller technique is iterative learning tracking control. However, this technique has mostly been applied for controlling time-invariant systems, where the dynamic behaviour of the system would not change over time. In this article, the authors demonstrate a variable gain iterative learning control (VGILC) technique that is capable of continuously adjusting and effectively controlling multi-input and multi-output (MIMO) time-varying nonlinear systems. VGILC incorporates variable gain into the PD-type updating law to accelerate convergence speed. The convergence condition of the new learning law is presented and proved. The proposed approach improves the output tracking performance within a few trials. The effectiveness of the presented approach is demonstrated using modified robotic manipulators systems and its validity is proven.

Online publication date: Thu, 22-Jun-2017

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Modelling, Identification and Control (IJMIC):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?


Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com