SPATIAL-BASED ADAPTIVE ITERATIVE LEARNING CONTROL OF NONLINEAR ROTARY SYSTEMS WITH SPATIALLY PERIODIC PARAMETRIC VARIATION

摘要

A new spatial-based iterative learning control design for a class of rotary systems with unknown spatially periodic parameters is proposed in this paper. The concept of parametric adjustment in conventional adaptive control is modified and interfaced with spatial-based iterative learning control, i.e., a periodic parametric update law is identified for minimization of the tracking error. Convergence property and stability proof of the overall system are analyzed and discussed. Feasibility and effectiveness of the proposed scheme is justified by an illustrative example with numerical simulation. Compared with existing spatial-based iterative learning designs, the proposed approach applies to a more generic class of nonlinear and high-order systems.