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		Miao YU,Xudong YE,Donglian QI.[en_title][J].Control Theory and Technology,2013,11(3):336~342.[Copy]

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MiaoYU,XudongYE,DonglianQI
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(College of Electrical Engineering, Zhejiang University)

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Received:May 05, 2011Revised:July 10, 2012

基金项目:This work was supported by the National Basic Research Program of China (No. 2012CB316400), the National Science Foundation of China (Nos. 60974135, 60525316, 61171034), and the Zhejiang Provincial Natural Science Foundation of China (No. R1110443).

Robust adaptive repetitive learning control for a class of time-varying nonlinear systems with unknown control direction

Miao YU,Xudong YE,Donglian QI

(College of Electrical Engineering, Zhejiang University)

Abstract:

A robust adaptive repetitive learning control method is proposed for a class of time-varying nonlinear systems. Nussbaum-gain method is incorporated into the control design to counteract the lack of a priori knowledge of the control direction which determines the motion direction of the system under any input. It is shown that the system state could converge to the desired trajectory asymptotically along the iteration axis through repetitive learning. Simulation is carried out to show the validity of the proposed control method.

Key words: Repetitive learning control (RLC) Unknown control direction Nussbaum gain