Skip to main content
Kent Academic Repository

D-Type Learning Control for Nonlinear Time-Varying Systems with Unknown Initial States and Inputs

Yan, Xinggang, Chen, I-Ming, Lam, James (2001) D-Type Learning Control for Nonlinear Time-Varying Systems with Unknown Initial States and Inputs. Transactions of the Institute of Measurement and Control, 23 (2). pp. 69-82. (doi:10.1177/014233120102300201) (The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided) (KAR id:27730)

The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided.
Official URL:
http://dx.doi.org/10.1177/014233120102300201

Abstract

In this paper, D-type iterative learning control schemes, which guarantee that the desired output is tracked precisely through iteration, are presented. Both off-line and on-line schemes are considered for a class of nonlinear systems. In both schemes, the learning gain may be time-varying and thus possesses larger scope for adjustment. Specifically, not only the input but also the initial state is iterated in the algorithms, and the output channel is fully nonlinear. Then, sufficient conditions are presented which guarantee the convergence of the proposed algorithms. The desired input and desired state are not assumed to be known a priori. Finally, the results are applied to a robotic system through simulation, which demonstrates the effectiveness of the method.

Item Type: Article
DOI/Identification number: 10.1177/014233120102300201
Subjects: T Technology > TJ Mechanical engineering and machinery > Control engineering
Divisions: Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Engineering and Digital Arts
Depositing User: J. Harries
Date Deposited: 26 Apr 2011 12:46 UTC
Last Modified: 16 Nov 2021 10:06 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/27730 (The current URI for this page, for reference purposes)

University of Kent Author Information

  • Depositors only (login required):

Total unique views for this document in KAR since July 2020. For more details click on the image.