Saturated repetitive control for a class of nonlinear systems: A contraction mapping method

Contraction mapping methods do not need to know about the concrete form of plant models like the Lyapunov method. This is the biggest advantage over other methods in the field of iterative learning control for example. However, it is difficult to use such a tool to analyze repetitive control systems...

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Bibliographic Details
Published inSystems & control letters Vol. 122; pp. 93 - 100
Main Authors Quan, Quan, Cai, Kai-Yuan
Format Journal Article
LanguageEnglish
Published Elsevier B.V 01.12.2018
Subjects
Contraction mapping
Nonlinear systems
Repetitive control
Saturation
Spectral theory
Contraction mapping
Spectral theory
Nonlinear systems
Saturation
Repetitive control
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Summary:Contraction mapping methods do not need to know about the concrete form of plant models like the Lyapunov method. This is the biggest advantage over other methods in the field of iterative learning control for example. However, it is difficult to use such a tool to analyze repetitive control systems. This paper proposes a contraction mapping method based on spectral theory to design a saturated repetitive controller for a class of nonlinear systems, where the derived necessary and sufficient condition on the spectral radius can reduce the conservatism as much as possible. The feasibility of our work is demonstrated through a robotic manipulator tracking example.
ISSN:0167-6911
1872-7956
DOI:10.1016/j.sysconle.2018.10.008