Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/26421
Title: Universal repetitive learning control for nonparametric uncertainty and unknown state-dependent control direction matrix
Authors: Yang, Z
Yam, SCP
Li, LK
Wang, Y
Keywords: Asymptotic convergence
nonparametric uncertainty
Nussbaum gain
repetitive learning control (RLC)
universal adaptive stabilization
Issue Date: 2010
Publisher: Institute of Electrical and Electronics Engineers
Source: IEEE transactions on automatic control, 2010, v. 55, no. 7, 5440932, p. 1710-1715 How to cite?
Journal: IEEE transactions on automatic control 
Abstract: We propose a continuous universal repetitive learning control to track periodic trajectory for a class of nonlinear dynamical systems with nonparametric uncertainty and unknown state-dependent control direction matrix. The proposed controller is an integration of high-gain feedback, repetitive learning and Nussbaum gain matrix selector. The control signal is always continuous, thus it avoids the potential chattering effect caused by discontinuity. Asymptotic convergence of the tracking error is achieved by the controller, and the control performance is illustrated by simulation. Although the proposed method is derived for input-state systems, it can be readily extended to multi-input-multi-output systems under appropriate assumption.
URI: http://hdl.handle.net/10397/26421
ISSN: 0018-9286
EISSN: 1558-2523
DOI: 10.1109/TAC.2010.2046935
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