Boundary Iterative Learning Control of a Flexible Riser With Input Saturation and Output Constraint

For tackling the vibration suppression problem for a flexible riser system with external disturbance, input saturation, and output constraint, this article is constructed. A boundary iterative learning control is constructed together with Lyapunov's theory and backstepping technology. The outpu...

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Bibliographic Details
Published inIEEE transactions on systems, man, and cybernetics. Systems Vol. 52; no. 11; pp. 7044 - 7052
Main Authors Liu, Yu, Wang, Yinna, Mei, Yanfang, Wu, Yilin
Format Journal Article
LanguageEnglish
Published New York IEEE 01.11.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Backstepping
Backstepping technology
Control design
flexible riser
input saturation
Iterative learning control
iterative learning control (ILC)
Learning
Liapunov functions
Lyapunov methods
Manipulators
Research and development
Saturation
Vibration control
Vibrations
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Summary:For tackling the vibration suppression problem for a flexible riser system with external disturbance, input saturation, and output constraint, this article is constructed. A boundary iterative learning control is constructed together with Lyapunov's theory and backstepping technology. The output constraint is largely solved by employing a barrier Lyapunov function. External disturbance is handled as the iteration goes on. Under the control of the designed method, the output is limited to a given region, and the system is proved to be closed-loop stable with the assistance of Lyapunov's theorem of stability. Ultimately, the result of the simulation indicates that the method is effective and has a good control effect.
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ISSN:2168-2216
2168-2232
DOI:10.1109/TSMC.2022.3149283