This paper presents an adaptive iterative learning control (AILC) scheme for a class of nonlinear systems with unknown time-varying delays and unknown input dead-zone. A novel nonlinear form of deadzone nonlinearity is presented. The assumption of identical initial condition for ILC is removed by introducing boundary layer functions. The uncertainties with time-varying delays are compensated for with assistance of appropriate Lyapunov-Krasovskii functional and Young’s inequality. The hyperbolic tangent function is employed to avoid the possible singularity problem. According to a property of hyperbolic tangent function, the system output is proved to converge to a small neighborhood of the desired trajectory by constructing Lyapunov-like composite energy function (CEF) in two cases, while maintaining all the closed-loop signals bounded. Finally, a simulation example is presented to verify the effectiveness of the proposed approach.
Jian-ming Wei. Yun-an Hu. Mei-mei Sun. "A New AILC for a Class of Nonlinearly Parameterized Systems with Unknown Delays and Input Dead-Zone." J. Appl. Math. 2014 1 - 14, 2014. https://doi.org/10.1155/2014/238018