Repetitive learning control of nonlinear continuous-time systems using quasi-sliding mode

Research output: Journal Publications and ReviewsRGC 21 - Publication in refereed journalpeer-review

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Original languageEnglish
Pages (from-to)369-374
Journal / PublicationIEEE Transactions on Control Systems Technology
Issue number2
Publication statusPublished - Mar 2007


In this brief, a quasi-sliding mode (QSM)-based repetitive learning control (RLC) method is proposed for tackling multi-input multi-output nonlinear continuous-time systems with matching perturbations. The proposed RLC method is able to perform rejection of periodic exogenous disturbances as well as tracking of periodic reference trajectories. It ensures a robust system stability when it is subject to nonperiodic uncertainties and disturbances. In this brief, an application to a robotic manipulator is used to illustrate the performance of the proposed QSM-based RLC method. A comparative study with the conventional variable structure control (VSC) technique is also included. © 2007 IEEE.

Research Area(s)

  • Nonlinear uncertain continuous-time systems, Periodic exogenous disturbances, Quasi-sliding mode (QSM), Repetitive learning control (RLC)