Aug 2026· International Conference on Methods & Models in Automation & Robotics· pp. 464-469· 0 citations· 7 references
Abstract
This paper presents a new iterative learning control (ILC) scheme for affine nonlinear systems of repetitive nature with unknown dynamics, combining model-free feedback linearization with a two-dimensional (2D) system framework. The method eliminates the need for prior model knowledge by employing model reference adaptive control (MRAC) together with $Q$-learning to achieve feedback linearization. After linearization, the control law is formulated within the 2D system setting, enabling the integrated design of both feedback and learning controllers to ensure stability and tracking error convergence. Numerical experiments on a thermoplastic injection molding process validate the effectiveness of the proposed approach, demonstrating accurate trajectory tracking across trials.
This paper proposes the data-driven prescribed performance adaptive learning control (DPPALC) algorithm to accomplish the prescribed performance control for nonlinear systems, which can ensure that the tracking error converges to the prescribed region in the prescribed time. Considering that system model is unavailable...
Yong-Sheng Ma, Wei-Wei Che, Zheng-Guang Wu· IEEE/CAA Journal of Automati...· 0 citations
This article addresses the problem of closed-loop dynamics learning and tracking control for a class of fractional-order (FO) nonlinear strict-feedback systems subject to output constraints. To cope with the inherent nonlinear uncertainties, an adaptive FO learning control strategy is developed based on deterministic l...
Wei-Tian He, Fu-Kai Zhang, Yan Li et al.· IEEE Transactions on Neural...· 0 citations
A novel phase-error-based Q-learning algorithm is proposed to solve the optimal tracking control problems for unknown discrete-time nonlinear systems, which enables optimal tracking control without requiring system dynamics or pre-established effective control strategies.
Bo-Yu Wen, Xin Chen, Wojciech Paszke et al.· International Journal of Con...· 0 citations
Many practical dynamical models are inherently nonlinear and may exhibit complex growth conditions and uncertainties, which pose considerable challenges to controller design. In this paper, the tracking control issue for a category of high-order nonlinear systems with polynomial-type growth conditions is studied. Throu...
Zhuang Wen, Jing-Xing Li, Zhenguo Liu et al.· Actuators· 0 citations
Designing trajectory tracking controllers for nonlinear systems remains a significant challenge, traditionally requiring precise mathematical models and complex analytical derivations. While the Internal Model Principle (IMP) provides a robust theoretical foundation for such problems, its application is often hindered...
Sathya Aswath Govind Raju, Berk Altiner, Zong-Xuan Sun et al.· 0 citations
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