Русская версия
ISSN 1817-2172, рег. Эл. № ФС77-39410, ВАК

Differential Equations and Control Processes
(Differencialnie Uravnenia i Protsesy Upravlenia)

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Output Based Iterative Learning Control with Saturation

Author(s):

Julia Pavlovna Emelianova

Ph.D. Associate Professor of the Department of Applied Mathematics of the Arzamas Polytechnic Institute of R.E. Alekseev Nizhny Novgorod State Technical University,

emelianovajulia@gmail.com

Abstract:

The paper considers a linear discrete-time system operating in a repetitive mode to track a reference trajectory with a given accuracy. The system parameters are incompletely known and are described by the affine uncertainty model. A new iterative learning control design method based on information about the measured output signal is obtained; this method takes into account the saturation-type nonlinearity inherent in the actuators of robots and allows achieving the required accuracy. The problem statement is motivated by the development trends of high-precision smart and additive manufacturing as well as medical rehabilitation robots. An example illustrates the effectiveness of this method.

Keywords

References:

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