A Novel Predefined Time PD-Type ILC Paradigm for Nonlinear Systems

Intelligent robotics has drawn a great deal of attention due to its high precision, stability, and reliability, which are the basic key factors for industrial automation. This paper proposes an iterative learning control (ILC) technique with predefined-time convergence as solution applied engineering problem, namely, that local time cannot be preset when second-order nonlinear system undertakes accurate tracking under any initial value. A time-varying sliding surface value zero was designed, it theoretically proven trajectory error in could converge within predefined time. The problem thus changed sliding-mode tracing starting zero. PD-type closed-loop ILC mode designed such converged stabilized on after finite number iterations. goal system’s output ability track desired accurately interval, achieved by combining this characteristics surface. Numerical simulation repetitive motion manipulator used verify effectiveness proposed controller robustness face external disturbances.