DocumentCode :
2253206
Title :
Iterative learning control design based on composite energy function with input saturation
Author :
Xu, Jian-Xin ; Tan, Ying ; Lee, Tong-Heng
Author_Institution :
Dept. of Electr. Eng., Nat. Univ. of Singapore, Singapore
Volume :
6
fYear :
2003
fDate :
4-6 June 2003
Firstpage :
5129
Abstract :
In this work, iterative learning control (ILC) scheme is designed for a class of nonlinear system with the lumped uncertainty in the presence of input saturation. The analysis of convergence in iteration domain is on the basis of composite energy function (CEF), which incorporates the energy in time domain as well as the iteration domain. At the same time, input saturation is taken into consideration in the design of ILC scheme with the investigation on the properties of the saturation function. Through rigorous analysis, the convergence of the tracking error in iteration domain can be guaranteed under the input saturation provided the desired trajectory is realizable within the saturation bound.
Keywords :
adaptive control; control system synthesis; iterative methods; learning systems; nonlinear control systems; composite energy function; input saturation; iteration domain; iterative learning control; nonlinear system; saturation bound; saturation function; tracking error; Actuators; Control design; Control systems; Convergence; Frequency; Limit-cycles; Process control; Time domain analysis; Trajectory; Uncertainty;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
ISSN :
0743-1619
Print_ISBN :
0-7803-7896-2
Type :
conf
DOI :
10.1109/ACC.2003.1242541
Filename :
1242541
Link To Document :
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