Repetitive Learning Control of Nonlinear Continuous-Time Systems Using Quasi-Sliding Mode.pdf

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 15, NO. 2, MARCH 2007 369 Repetitive Learning Control of Nonlinear Continuous-Time Systems Using Quasi-Sliding Mode Xiao-Dong Li, Tommy W. S. Chow, John K. L. Ho, and Hong-Zhou Tan Abstract— In this brief, a quasi-sliding mode (QSM)-based there has been very limited effort [3], [4] working on nonlinear repetitive learning control (RLC) method is proposed for tackling RLC systems. It is also worth noting that virtually most major multi-input multi-output nonlinear continuous-time systems with RLC results were obtained in single-input systems [2]–[4]. In- matching perturbations. The proposed RLC method is able to perform rejection of periodic exogenous disturbances as well as teresting theoretical development of RLC can be found in [1] tracking of periodic reference trajectories. It ensures a robust and [3]. Recently, various new techniques have been suggested system stability when it is subject to nonperiodic uncertainties and for the RLC design. Among them, the variable structure con- disturbances. In this brief, an application to a robotic manipulator trol (VSC) technique with the prominent characteristics of in- is used to illustrate the performance of the proposed QSM-based variance and robustness to parameter variations and exogenous RLC method. A comparative study with the conventional variable structure control (VSC) technique is also included. disturbances has been successfully introduced to the design of RLC systems [2], [8]. In [8], the VSC and repet