Iterative Learning Control for a Class of MIMO Nonlinear System with Input Saturation Constraint
作者单位：School of Mathematics and PhysicsQingdao University of Science and Technology School of Automation and Electronics EngineeringQingdao University of Science and Technology
会议名称：《第36届中国控制会议》
主办单位：Dalian University of Technology;Systems Engineering Society of China (SESC);Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议日期：2017年
学科分类：08[工学] 0802[工学-机械工程] 0835[工学-软件工程] 0811[工学-控制科学与工程] 0701[理学-数学] 0812[工学-计算机科学与技术（可授工学、理学学位）] 080201[工学-机械制造及其自动化]
基 金：supported by the National Natural Science Foundation of China(61503209 61374102)
关 键 词：Iterative Learning Control Input Saturation Constraint Multiple-Input Multiple-Output System
摘 要：This paper presents an iterative learning control for a class of multiple-input multiple-output（MIMO）nonlinear parameterized system with input saturation *** dynamic function of the nonlinear system considered in this paper is described by an nonlinearly parameterized functions with input saturation *** considering the property of the saturation function in the MIMO nonlinear system,we design the P-type iterative learning controller with a feedback term and partially-saturated term and a fully-saturated parameter updating *** constructing a composite energy function（CEF）,we prove the convergence property of the tracking *** last,we give an numerical simulation which show that the control scheme proposed in this paper is effective and correct.