RBFNN-Based Nonuniform Trajectory Tracking Adaptive Iterative Learning Control for Uncertain Nonlinear System with Continuous Nonlinearly Input

Abstract

This paper proposes an adaptive iterative learning control (AILC) method for uncertain nonlinear system with continuous nonlinearly input to solve different target tracking problem. The method uses the radial basis function neural network (RBFNN) to approximate every uncertain term in systems. A time-varying boundary layer, a typical convergent series are introduced to deal with initial state error and unknown bounds of errors, respectively. The conclusion is that the tracking error can converge to a very small area with the number of iterations increasing. All closed-loop signals are bounded on finite-time interval $\left[0,T\right]$ . Finally, the simulation result of mass-spring mechanical system shows the correctness of the theory and validity of the method.