Adaptive iterative learning control for nonlinear parameterized-systems with unknown time-varying delays
未知时变时滞非线性参数化系统自适应迭代学习控制

A new adaptive iterative learning control approach is proposed for a class of nonlinear systems with unknown time-varying parameters and time-varying delays. By using the parameter separation technique combined with the signal replacement mechanism, a novel adaptive control strategy is designed to ensure the tracking error for converging to zero in the mean-square sense on a finite time-interval. A sufficient condition for the convergence is also given by constructing a Lyapunov-Krasovskii-like composite energy function. The approach can be applied to the nonlinear systems with timevarying parameters and delay dependent uncertainties. Two simulation examples are provided to illustrate the efficacy of the proposed control algorithms.