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1、IEEETRANSACTIONSONCONTROLSYSTEMSTECHNOLOGY,VOL.15,NO.2,MARCH2007369RepetitiveLearningControlofNonlinearContinuous-TimeSystemsUsingQuasi-SlidingModeXiao-DongLi,TommyW.S.Chow,JohnK.L.Ho,andHong-ZhouTanAbstract—Inthisbrief,aquasi-slidingmode(QSM)-basedthere
2、hasbeenverylimitedeffort[3],[4]workingonnonlinearrepetitivelearningcontrol(RLC)methodisproposedfortacklingRLCsystems.Itisalsoworthnotingthatvirtuallymostmajormulti-inputmulti-outputnonlinearcontinuous-timesystemswithRLCresultswereobtainedinsingle-inputsy
3、stems[2][4].In-matchingperturbations.TheproposedRLCmethodisabletoperformrejectionofperiodicexogenousdisturbancesaswellasterestingtheoreticaldevelopmentofRLCcanbefoundin[1]trackingofperiodicreferencetrajectories.Itensuresarobustand[3].Recently,variousnewt
4、echniqueshavebeensuggestedsystemstabilitywhenitissubjecttononperiodicuncertaintiesandfortheRLCdesign.Amongthem,thevariablestructurecon-disturbances.Inthisbrief,anapplicationtoaroboticmanipulatortrol(VSC)techniquewiththeprominentcharacteristicsofin-isused
5、toillustratetheperformanceoftheproposedQSM-basedvarianceandrobustnesstoparametervariationsandexogenousRLCmethod.Acomparativestudywiththeconventionalvariablestructurecontrol(VSC)techniqueisalsoincluded.disturbanceshasbeensuccessfullyintroducedtothedesigno
6、fRLCsystems[2],[8].In[8],theVSCandrepetitivelearningIndexTerms—Nonlinearuncertaincontinuous-timesystems,pe-wereusedtoimprovetrackingaccuracyofamicroactuator.Theriodicexogenousdisturbances,quasi-slidingmode(QSM),repeti-tivelearningcontrol(RLC).VSCpartwasu
7、sedtostabilizethesystem,whiletherepetitivelearningpartwasusedtoimprovetrackingaccuracy.In[2],itdesignedanRLCcontrollerusingadiscrete-timeVSCmethod-I.INTRODUCTIONology.Itemployedthenotionofquasi-slidingmode(QSM)andthereachinglawapproachdevelopedin[14]tode
8、signanERIODICsignalsarecommonlyexperiencedinindustrialRLCcontroller.Butthecontrolapproach[2]waslimitedonlytoProbotics,servomechanisms,andothersimilartrackingsingle-inputsingle-output(SISO)lineardiscretesystems.Therescenari
