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摘要
This paper presents an adaptive iterative learning control (AILC) scheme for a class of nonlinear systems with unknown time-varying delays and unknown input dead-zone. A novel nonlinear form of deadzone nonlinearity is presented. The assumption of identical initial condition for ILC is removed by introducing boundary layer functions. The uncertainties with time-varying delays are compensated for with assistance of appropriate Lyapunov-Krasovskii functional and Young's inequality. The hyperbolic tangent function is employed to avoid the possible singularity problem. According to a property of hyperbolic tangent function, the system output is proved to converge to a small neighborhood of the desired trajectory by constructing Lyapunov-like composite energy CEF) in two cases, while maintaining all the closed-loop signals bounded. Finally, a simulation example is presented to verify the effectiveness of the proposed approach.
- 出版日期2014
- 单位中国人民解放军海军航空工程学院
