Model-Free Adaptive Iterative Learning Control Based on Sliding Mode Feedback for Nonlinear Systems with Backlash Input
摘要
The design of control mechanisms is impeded by the obstacle of accurately depicting the behavior of nonlinear systems with backlash input. A data-driven form of iterative learning control algorithm based on sliding mode feedback is proposed. To overcome the problem of prolonged convergence time of conventional model-free adaptive iterative learning control algorithms due to the open-loop control of on time axis, we introduce a sliding mode feedback control algorithm, which can achieve double-closed-loop operation on both the time and iteration axes. The robustness of the presented control algorithm has been explored and the feasibility and superiority of the algorithm is validated.