ZHU Yonghong ,ZHAN Lilin,  ZHOU Jianer , HU Guolin

(Jingdezhen Ceramic lnstitue,333001)

Abstract:An adaptive robust control method is presented for the control of a class of nonlinear uncertain systems. The iterative teaming control strategy is applied directly to deal with periodic system uncertainties. The adaptive robust control strategy is used to handle non-periodic system uncertainties associated with partially known bounding functions . The scheme proposed guarantees that the tracking error converges a pre-specified error bound within finite iterations. Simulation demonstrates the effectiveness of the method.

Keywords:ceramic manipulator, adaptive robust control, iterative learning control, tracking control