Iterative learning control for a class of MIMO nonlinear system with input saturation constraint

Abstract

This paper presents an iterative learning control for a class of multiple-input multiple-output (MIMO) nonlinear parameterized system with input saturation constraint. The dynamic function of the nonlinear system considered in this paper is described by an nonlinearly parameterized functions with input saturation term. By 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 law. By constructing a composite energy function (CEF), we prove the convergence property of the tracking error. At last, we give an numerical simulation which show that the control scheme proposed in this paper is effective and correct.