Composite energy function-based iterative learning control for systems with nonparametric uncertainties

摘要

In this work, we propose new iterative learning control (ILC) schemes that deal with nonlinear multi-input multi-output systems under alignment condition with nonparametric uncertainties. A major contribution of this work is to remove the classical resetting condition. Another major contribution of this work is to deal with norm-bounded nonlinear uncertainties that satisfy local Lipschitz condition, in particular to deal with nonlinear uncertain state-dependent input gain matrix that could be non-square left invertible and local Lipschitzian. Two types of composite energy function are proposed to facilitate the ILC design and property analysis. Through rigorous analysis, we show that the new ILC schemes proposed warrant the asymptotical tracking convergence of system states. In the end, an illustrative example is provided to demonstrate the efficacy of the proposed ILC scheme.