Iterative Learning Control for Non-uniform Trajectory Tracking Problems
نویسندگان
چکیده
In this work Iterative Learning Control is extended to non-uniform trajectory tracking problems for certain classes of nonlinear uncertain systems. The proposed ILC scheme can learn from different motion patterns and guarantee the asymptotic convergence even if the target trajectory varies at every iteration. The concept of Composite Energy Function (CEF) is adopted to facilitate the convergence property analysis, which shows that the uniform convergence of the tracking error is achieved.
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