Multi-objective COA for Design Robust Iterative Learning Control via Second-Order Sliding Mode

In this paper the design of optimized robust iterative learning control (ILC) for the purpose of output tracking is investigated. The main features of the design are that: The control signal is continuous and the coefficient of controller is optimized. Therefore it is chattering-free compared with the robust ILC using classical first-order sliding mode technique. In the proposed system, free parameters of controller have vital role in the performance of system. Therefore we suggest cuckoo optimization algorithm (COA) for finding the best value of these parameters. The continuous and non-chattering control signal can prevent actuators from being damaged. This cannot be realized by the discontinuous and chattering control inputs if the conventional sliding-mode control is applied. An illustrative example is presented to demonstrate the effectiveness of the proposed second order continuous sliding mode ILC.