Iterative Learning Control For A Class Of Nonlinear Systems With Mixed Parameters

Iterative learning control is one of the intelligent control methods.Due to its significant advantages and good control performance,it has become one of the hot research directions in the field of intelligent control.It has been paid more and more attention by many researchers and has been widely used.In this paper,iterative learning control for a class of nonlinear systems with mixed parameters is studied based on iterative learning control theory.In addition,aiming at the wide application of multi-agent systems,the consistency problem of a class of multi-agent systems with mixed parameters is also studied.The main work of the paper is as follows:(1)Adaptive iterative learning control for a class of nonlinear parameterized systems with mixed parameters and input saturation terms and time-varying delay terms is studied.The nonlinear terms such as input saturation,time-varying delay and mixed parameters in the system are processed by parameter separation technology.On this basis,the adaptive iterative learning controller and the parameter updating law in the iterative domain are constructed.Then,the asymptotic convergence of the state tracking error along the iterative axis is proved by using the compound energy function(CEF).Finally,numerical simulation is carried out to verify the correctness of the proposed control strategy.(2)The consistency problem of a class of multi-agent systems with mixed parameters and input saturation is studied.Firstly,a fully saturated parameter update rate and distributed iterative learning controller are constructed based on the known multi-agent expansion error and various constraints existing in the discussed multi-agent system.Secondly,the compound energy function is constructed to prove the convergence of tracking error of multi-agent system.Finally,numerical simulation is carried out,and directed graph and undirected graph are discussed respectively to prove the effectiveness of the constructed controller and parameter update rate.(3)Considering the existence of time delay in multi-agent systems and the nonlinear time delay terms,a class of multi-agent systems with mixed parameters with time-varying delay and input saturation terms is further studied.Firstly,the parameter update rate and distributed iterative learning controller are constructed by the extension error of the multi-agent system and various constraints existing in the multi-agent system.Secondly,an appropriate compound energy function is constructed,and the convergence of tracking error is proved by solving the differential and difference of the compound energy function.Finally,numerical simulation is carried out to prove the correctness of the proposed control rate and parameter update rate.