NDLI: A new dynamical linearization based adaptive ILC for nonlinear discrete-time MIMO systems

Content Provider	IEEE Xplore Digital Library
Author	Ronghu Chi Zhongsheng Hou Shangtai Jin Danwei Wang
Copyright Year	2012
Description	Author affiliation: EXQUISITUS, Centre for E-City, School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore (Danwei Wang) \|\| School of Automation & Electrical Engineering, Qingdao University of Science & Technology, Qingdao, China (Ronghu Chi) \|\| School of Electronics & Information Engineering, Beijing Jiaotong University, Beijing, China (Zhongsheng Hou; Shangtai Jin)
Abstract	Most of the available results of adaptive iterative learning control (AILC) hitherto have considered the control systems with known linearly parameterized structures. A dynamical linearization approach is developed for a general nonlinear multiple input multiple output systems. And then a discrete-time adaptive ILC approach is presented to deal with the ILC problems of nonlinear MIMO systems with iteration-varying initial error and reference trajectory. The controller design and analysis is completely data-driven without using any modeling information of the plant, but the measured I/O data only. The almost perfect tracking performance is asymptotically guaranteed by rigirous mathematical analysis.
Starting Page	442
Ending Page	446
File Size	97143
Page Count	5
File Format	PDF
ISBN	9781467318716
e-ISBN	9781467318723
e-ISBN	9781467318709
DOI	10.1109/ICARCV.2012.6485199
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-12-05
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Adaptive systems Nonlinear systems Trajectory MIMO Convergence Robots Iteration-varying target trajectories Adaptive iterative learning control Nonlinear discrete-time System dynamical linearization Random initial condition
Content Type	Text
Resource Type	Article

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