%0 Journal Article
%T Adaptive Iterative Learning Control for a Class of Nonlinear Systems with Unknown Control Directions
%A P. JiangY.Q. Cheng
%J The Open Automation and Control Systems Journal
%D 2008
%I 
%R 10.2174/1874444300801010020]
%X An adaptive iterative learning control(ILC) approach is proposed for a class of uncertain nonlinear systems without prior knowledge about system control directions. The Nussbaum-type gain and the positive definite discrete matrix kernel are proposed for dealing with selection of the unknown control gain and learning of the repeatable uncertainties, respectively. Asymptotic convergence for a trajectory tracking within a finite time interval is achieved through repetitive tracking. Simulations are carried out to show the validity of the proposed control method.
%U http://www.benthamscience.com/open/toautocj/articles/V001/20TOAUTOCJ.htm