title: Output Based Iterative Learning Control with Saturation
metadata.name: dc.contributor.author
metadata.value: Emelianova, Julia Pavlovna
metadata.lang: -
metadata.name: dc.date.accessioned
metadata.value: 2024-12-02T17:38:01Z
metadata.lang: -
metadata.name: dc.date.available
metadata.value: 2024-12-02T17:38:01Z
metadata.lang: -
metadata.name: dc.date.issued
metadata.value: 2024-09
metadata.lang: -
metadata.name: dc.identifier.other
metadata.value: https://doi.org/10.21638/11701/spbu35.2024.304
metadata.lang: -
metadata.name: dc.identifier.uri
metadata.value: http://hdl.handle.net/11701/48057
metadata.lang: -
metadata.name: dc.description.abstract
metadata.value: 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.
metadata.lang: en_GB
metadata.name: dc.description.sponsorship
metadata.value: The work was supported by the Russian Science
  Foundation under grant 23-71-01044, https://rscf.ru/en/project/23-71-01044/
metadata.lang: en_GB
metadata.name: dc.language.iso
metadata.value: ru
metadata.lang: en_GB
metadata.name: dc.publisher
metadata.value: St Petersburg State University
metadata.lang: en_GB
metadata.name: dc.relation.ispartofseries
metadata.value: Differential Equations and Control Processes;Issue 3
metadata.lang: -
metadata.name: dc.subject
metadata.value: iterative learning control
metadata.lang: en_GB
metadata.name: dc.subject
metadata.value: input saturation
metadata.lang: en_GB
metadata.name: dc.subject
metadata.value: parameter uncertainties
metadata.lang: en_GB
metadata.name: dc.subject
metadata.value: vector Lyapunov function
metadata.lang: en_GB
metadata.name: dc.title
metadata.value: Output Based Iterative Learning Control with Saturation
metadata.lang: en_GB
metadata.name: dc.type
metadata.value: Article
metadata.lang: en_GB
resources.filename: 24304-jdecp-emelyanova.pdf
resources.url: https://dspace.spbu.ru/bitstream/11701/48057/1/24304-jdecp-emelyanova.pdf
resources.format: Adobe PDF
resources.size: 715,37 kB