%0 Journal Article
%T Error trajectory tracking by robust learning control for nonlinear systems<br>一类非线性系统的误差轨迹跟踪鲁棒学习控制算法
%A YAN Qiu-zhen
%A SUN Ming-xuan
%A <br>严求真
%A 孙明轩
%J 控制理论与应用
%D 2013
%I 
%X For a class of nonlinear systems with non-parametric uncertainties, we present a robust iterative learning control algorithm, in which the iterative initial value can be arbitrary, relaxing the initial conditions required in conventional methods. The learning controller is designed based on the Lyapunov-like synthesis, compensating uncertainties by robust limited-magnitude learning mechanism, and the error can follow its desired trajectory accurately in the entire time interval. The desired error trajectory with attenuation traits is predetermined by the initial error value at the beginning of the iteration. The error converges to the neighborhood of the origin after the predetermined time, and the radius of the neighborhood can be as small as required. The effectiveness of the proposed method is proven by theoretical analysis and verification results.
%K iterative learning control
%K robust control
%K initial condition problem
%K Lyapunov-like approach<br>迭代学习控制
%K 鲁棒控制
%K 初值问题
%K 类Lyapunov方法
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=2DB3B6D3544EDEBD8F4D11A1FE2D6DC4&yid=FF7AA908D58E97FA&vid=340AC2BF8E7AB4FD&iid=CA4FD0336C81A37A&sid=EA389574707BDED3&eid=340AC2BF8E7AB4FD&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=0