Iterative learning control design based on composite energy function with input saturation. (English) Zbl 1077.93057

Summary: 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 a 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.


93E35 Stochastic learning and adaptive control
93B40 Computational methods in systems theory (MSC2010)
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