Recursive Sliding Mode Based Iterative Learning Control

In this paper, a novel adaptive iterative learning control scheme is proposed to cope with the output tracking problem for a class of nonlinear plants with unknown parameters in the condition of arbitrary initial error. Lyapunov synthesis is utilized to design the iterative learning controller. The initial rectifying action and the recursive terminal sliding mode technique are integratedly employed to overcome initial nonzero error. As the number of iteration increases, the rectified signal converges to zero over the whole time interval, such that system output may precisely track the reference signal during the pre-specified part interval.