Experimentally Validated Vector Lyapunov Function-Based Iterative Learning Control Design Under Input Saturation

doi:10.1109/TCST.2023.3309500

Experimentally Validated Vector Lyapunov Function-Based Iterative Learning Control Design Under Input Saturation

2024-01-01

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DOI：10.1109/TCST.2023.3309500

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Abstract

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This article addresses the problem of input saturation in iterative learning control (ILC), a problem area that has seen relatively little research effort. A new design is developed based on a branch of 2-D systems theory and, in particular, Lyapunov-based stability theory. The resulting design is compared in simulation with an alternative. In the final part of this article, the results of an in-depth experimental investigation of the new designs properties are reported.

Keywords:

Trajectory

Symmetric matrices

Stroke (medical condition)

Observers

Medical services

Iterative learning control

Convergence

Control input saturation

iterative learning control (ILC) design

repetitive processes

vector Lyapunov functions

Experimentally Validated Vector Lyapunov Function-Based Iterative Learning Control Design Under Input Saturation

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