Adaptive Vibration Iterative Learning Control of an Euler–Bernoulli Beam System With Input Saturation

Abstract

This article focuses on solving the problem of vibration attenuation of an Euler–Bernoulli beam system considering imprecise system parameters, asymmetric input saturation, and external period disturbance. By employing the backstepping technique, a kind of boundary control scheme composed of parameter adaptive laws and iterative learning terms is recommended to attenuate vibration for the flexible beam system. And a functional auxiliary system is devised to make up for the influence of input nonlinearity on the system. With the presented control scheme, the well-posedness of the beam system is proved via semigroup theory and the output signal is guaranteed bounded with the aid of rigorous Lyapunov analysis. Eventually, a simulation experiment is available in the MATLAB to expatiate on the suggested controllers’ availability and simulation diagrams also highlight that the boundary controller based on parameter adaptive law with iteration term shows better control performance than that without iteration terms.