Adaptive Iterative Learning Control for a Class of Linear Time-varying Systems
نویسندگان
چکیده
With the combination of the model reference adaptive control and iterative learning control, a model reference adaptive iterative learning control algorithm was proposed for a class of first order linear time-varying systems which are BIBO stable and repeatable in a finite time interval . By means of Lyapunov technique , an iterative learning control law with adaptive update law for time-varying inertial parameter was derived . The boundedness can be guaranteed for tracking error, parameter errors and control signal , when the number of iteration trends to infinite, the tracking error will converge to zero uniformly with respect to the finite time interval.
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