Title: Sliding mode iterative learning control for non-linear systems with uncertainties

Authors: Yu Liu; Hong Wang

Addresses: Institute of Acoustics, Chinese Academy of Sciences, Beijing 100190, China. ' System Control Centre, University of Manchester, P.O. Box 88, Manchester M60 1QD, UK

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.

Keywords: sliding mode control; SMC; iterative learning control; ILC; low pass filters; nonlinear systems; uncertainty.

DOI: 10.1504/IJSCC.2012.048611

International Journal of Systems, Control and Communications, 2012 Vol.4 No.3, pp.121 - 133

Published online: 21 Aug 2012 *

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