Iterative Learning Control for a Class of MIMO Nonlinear System with Input Saturation Constraint

Key Words:Adaptive ILC; Iteration-varying reference trajectory; Dynamical linearization; Data-driven control

Abstract:A novel adaptive ILC approach is proposed for the control tasks of tracking iteration-varying desired trajectory. The output the controlled system is reformulated as a function of initial states and control inputs only. Then, an iteration-dynamical linearization is proposed for the controlled system. With the identical initial conditions, the system output is finally formulated by the input series only. Then, a learning control law is designed according to the iteration dynamical linearization, where the unknown system parameter is estimated by an iterative updating law. Simulation study confirms the efficiency and application of the proposed method.

Volume:

Issue:

Translation or Not:no