A Robust Iterative Learning Control for Continuous-Time Nonlinear Systems With Disturbances

A Robust Iterative Learning Control for Continuous-Time Nonlinear Systems With Disturbances

In this paper, we study the trajectory tracking problem using iterative learning control for continuous-time nonlinear systems with a generic fixed relative degree in the presence of disturbances. This class of controllers iteratively refine the control input relying on the tracking error of the pre...

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Bibliographic Details
Main Authors: Michele Pierallini, Franco Angelini, Riccardo Mengacci, Alessandro Palleschi, Antonio Bicchi, Manolo Garabini
Format: Article
Language:English
Published: IEEE 2021-01-01
Series:IEEE Access
Subjects:
Iterative learning control
nonlinear control systems
robustness
robots
Online Access:https://ieeexplore.ieee.org/document/9592831/

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