An Iterative Learning Control for a Class of Partially Feedback Linearizable Systems

被引：52

作者：

Marino, Riccardo ^{[1
]}

Tomei, Patrizio ^{[1
]}

机构：

[1] Univ Roma Tor Vergata, Dept Elect Engn, Rome, Italy

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2009年 / 54卷 / 08期

关键词：

Feedback linearization; iterative learning; nonlinear systems; uncertain systems; NONLINEAR-SYSTEMS;

D O I：

10.1109/TAC.2009.2023967

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A class of single-input single-output nonlinear systems which are partially linearizable by state feedback is considered: feedback linearizable systems are included in such a class; no parametrization is required for the uncertainties which are required to satisfy the matching condition. Periodic reference signals with known period are to be tracked by the output. Provided that known bounding functions on the uncertainties are available, a state feedback iterative learning control is designed which achieves asymptotic output tracking and guarantees bounded closed loop signals from any intial condition. The novel control tecnhique is illustrated for a single-link robot arm.

引用

页码：1991 / 1996

页数：6

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