http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Discrete-Time Adaptive Iterative Learning Control with Unknown Control Directions
Miao Yu,Jianliang Zhang,Donglian Qi 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.6
An adaptive iterative learning control scheme is proposed for a class of discrete-time nonlinear systems with random initial conditions and iteration-varying desired trajectories. The discrete Nussbaum gain method is incorporated into the control design to tackle the problem associated with the lack of a priori knowledge of the control directions. The proposed control algorithm guarantees the boundedness of all the signals in the controlled system. The tracking error converges to zero asymptotically along the iterative learning axis. The effectiveness of the proposed control law is veri-fied through numerical simulation.