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Adaptive Iterative Learning Control of Nonlinear Systems with Unknown Control Direction

CHEN Gang,CHAI Yi(College of Automation,Chongqing University,Chongqing,400030,P.R.China)  
An adaptive iterative learning control scheme is proposed for a class of mismatched nonlinear systems with periodic uncertainties and unknown control directions.The control algorithm has the following three features: the control method does not need control direction information;the periodic uncertainties are learned online by a learning control method;and the algorithm can deal with mismatched uncertainties.The proposed method can achieve asymptotical convergence along a learning repetition horizon.A simulation example is provided to demonstrate the effectiveness and feasibility of the control strategy.
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