Wang Hongbin, Cheng Xiaoyan, Li Yaoyao, and Wang Ce
Iterative learning control, optimal control, uncertain parameter,trajectory tracking
This paper proposes a repetitive trajectory tracking method based on optimal iterative learning control (ILC) for nonlinear systems with uncertain parameters by which the desired error trajectory is tracked. The uncertain parameters in the system are learned through the ILC algorithm, and nonlinear optimal control is adopted for balancing the control performance versus the control effort. By integrating the optimal control algorithm and ILC algorithm, the advantages of all algorithms can be reserved – the optimal performance in the time domain and asymptotic tracking convergence in the iteration domain. The effectiveness of the proposed method is illustrated by simulations.
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