Adaptive Iterative Learning Reliable Control of Nonrepetitive Systems With Multiple Iteration-Varying Parametric Uncertainties
针对存在执行器故障和状态延迟的非重复系统，提出一种自适应迭代学习可靠控制方案，利用双曲正切函数和辅助序列处理非重复不确定性，实现输出零误差收敛。
The repetitiveness prerequisite of iterative learning control has always been the main obstacle to promoting its practical applications. In this article, a novel adaptive iterative learning reliable control scheme is proposed for the nonrepetitive systems with multiple iteration-varying parametric uncertainties, where actuator faults and state delays are considered simultaneously. During the design of the controller, the class- $k_{\infty } $ function is leveraged to dispose of the unmodeled lumps of systems through neural networks, and the transformation of control signals is established to compensate for the negative impact of the inefficient actuator. The technical features of our approach lie in an innovative parametric estimation mechanism that integrates the hyperbolic tangent function and an auxiliary sequence is presented to accommodate the nonrepetitive uncertainties, thus achieving the zero-error convergence of output. As the main merits, the proposed control scheme is promising to manifest better performance and practicality than the existing methods, owing to the weak assumptions on the system dynamics, the little prior knowledge of parametric uncertainties, and the strong learning ability of the controller.