Experimentally Validated Vector Lyapunov Function-Based Iterative Learning Control Design Under Input Saturation
Pavel Pakshin, Sławomir Mandra, Julia Emelianova, Eric Rogers, Krystian Erwiński, Krzysztof Gałkowski
Abstract
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.
Topics & Concepts
Control theory (sociology)Lyapunov functionIterative learning controlSaturation (graph theory)Stability (learning theory)Lyapunov redesignComputer scienceLyapunov stabilityControl engineeringFunction (biology)Mathematical optimizationMathematicsControl (management)EngineeringArtificial intelligenceMachine learningNonlinear systemPhysicsQuantum mechanicsCombinatoricsEvolutionary biologyBiologyIterative Learning Control Systems