%0 Journal Article
%T Adaptive repetitive control for a class of nonlinear systems with unknown control direction<br>控制方向未知非线性系统的自适应重复控制
%A JIN Kui
%A SUN Ming-xuan
%A <br>金奎
%A 孙明轩
%J 控制理论与应用
%D 2012
%I 
%X We present an adaptive repetitive control for a class of nonlinear systems with periodic nonparametric uncertainties and unknown control direction. This repetitive controller is designed with the aid of Nussbaum function; and the saturation mechanism adopted in the learning algorithm confines the estimated parameters to a pre-determined region. The proposed control method guarantees that all the signals in the closed-loop are bounded and the tracking error converges to zero as time approaches infinity. Numerical simulations are carried out to demonstrate the effectiveness of the presented control scheme.
%K Nussbaum function
%K non-parametric uncertainties
%K control direction
%K adaptive repetitive control<br>Nussbaum函数
%K 非参数不确定性
%K 控制方向
%K 自适应重复控制
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=881F218DCECE3DFB23685F48BA1FC29D&yid=99E9153A83D4CB11&vid=771469D9D58C34FF&iid=9CF7A0430CBB2DFD&sid=2613941CBDF71B5D&eid=334C32317477C964&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=0