期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2016
卷号：13
期号：3
页码：95
DOI：10.5772/63936
语种：English
出版社：SAGE Publications
摘要：In this work, we present a new iterative learning control (ILC) scheme for a class of non-linear systems with uncertain and non-repetitive disturbances, in order to achieve perfect tracking by proposing a high order feedback-feedforward ILC algorithm with a variable forgetting factor. The high order feedback-feedforward iterative learning controller can fully apply the previous control data to the system, which allows the system to track expectations more rapidly and precisely. Introducing a variable forgetting factor can weaken the former control output and its variance in the control law, while strengthening the robustness of the ILC. Through rigorous analyses, we demonstrate that uniform convergence of the state tracking error is guaranteed under this new ILC scheme. Simulation examples are also included to demonstrate the feasibility and effectiveness of the proposed learning controls.
关键词：High Order Iterative Learning Control; Feedback-feedforward Control; Variable Forgetting Factor
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