Open-Closed Loop PD-type Iterative Learning Control for Nonlinear System and Its Application in Robot

Abstract

In this paper,an open closed loop PD type iterative learning control shceme for a class of nonlinear time varying system is proposed.In this scheme,the system courrent tracking error and previous tracking error are both used to update control input meanwhile.Namly,a feedback loop which based on open loop iterative learning control is introduced to form a feedback and feedfoward iterative learning control law to improve the system's tracking performance.Then sufficient and necessary conditions for the convergence of the proposed learning scheme are given.And finally simulation for a robot system shows the feasibility and effectiveness of our conlusion.