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Time-varying neural networks based indirect adaptive ILC for discrete-time varying nonlinear systems

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2 Author(s)
Yan Weili ; Coll. of Inf. Eng., Zhejiang Univ. of Technol., Hangzhou, China ; Sun Mingxuan

By using the iterative learning projection algorithm with dead-zone for training time-varying weights, a time-varying neural networks (TVNNs) based indirect adaptive iterative learning control (I-AILC) scheme is presented for a class of uncertain discrete-time varying nonlinear systems with unknown control gain sign. The control singularity has been overcome through a modification of the control gain estimation which can be bounded away from zero. The proposed TVNNs-based I-AILC doesn't require the strict initial resetting condition and the reference trajectory can vary along the iteration axis. Theoretical analysis proves the boundedness of all signals of the closed-loop system and convergence of the tracking error to a bounded region. The numerical results presented verify effectiveness of the proposed method.

Published in:

Control Conference (CCC), 2010 29th Chinese

Date of Conference:

29-31 July 2010