Adaptive Iterative Learning Control for Nonlinearly Parameterized Systems with Unknown Time-varying Delay and Unknown Control Direction

This paper proposes a new adaptive iterative learning control approach for a class of nonlinearly parameterized systems with unknown time-varying delay and unknown control direction.By employing the parameter separation technique and signal replacement mechanism,the approach can overcome unknown time-varying parameters and unknown time-varying delay of the nonlinear systems.By incorporating a Nussbaum-type function,the proposed approach can deal with the unknown control direction of the nonlinear systems.Based on a Lyapunov-Krasovskii-like composite energy function,the convergence of tracking error sequence is achieved in the iteration domain.Finally,two simulation examples are provided to illustrate the feasibility of the proposed control method.