A new AILC for a class of nonlinearly parameterized systems with unknown delays and input dead-zone

This paper presents an adaptive iterative learning control (ailc) scheme for a class of nonlinear systems with unknown time-varying delays and unknown input dead-zone. a novel nonlinear form of deadzone nonlinearity is presented. the assumption of identical initial condition for ilc is removed by introducing boundary layer functions. the uncertainties with time-varying delays are compensated for with assistance of appropriate lyapunov-krasovskii functional and young's inequality. the hyperbolic tangent function is employed to avoid the possible singularity problem. according to a property of hyperbolic tangent function,the system output is proved to converge to a small neighborhood of the desired trajectory by constructing lyapunov-like composite energy function (cef) in two cases,while maintaining all the closed-loop signals bounded. finally,a simulation example is presented to verify the effectiveness of the proposed approach. © 2014 jian-ming wei et al.