Iterative learning control design based on composite energy function with input saturation

  • Authors:

  • Jian-Xin Xu;Ying Tan;Tong-Heng Lee

  • Affiliations:

  • Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Block 3, Singapore 119260, Singapore;Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Block 3, Singapore 119260, Singapore;Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Block 3, Singapore 119260, Singapore

  • Venue:
  • Automatica (Journal of IFAC)
  • Year:
  • 2004

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Abstract

In this work, an iterative learning control scheme is designed for a class of nonlinear uncertain systems with input saturation. The analysis of convergence in the iteration domain is based on composite energy function, which consists of both input and state information along the time and iteration axes. Through rigorous analysis, the learning convergence in the iteration domain can be guaranteed under the input saturation, provided the desired trajectory is realizable within the saturation bound.