1 results about "Affine nonlinear system" patented technology

The application relates to the technical field of automatic control, in particular to a high-order iterative learning control method for saturation disturbance of a variable-length nonlinear system, which comprises the following steps: for a discrete-time affine nonlinear system simultaneously affected by input saturation, variable iteration length, random initial state offset and external disturbance, Bernoulli random variables are introduced to describe the variable iteration length, an extended control input sequence uniform time scale is constructed, and a modified tracking error is defined; a high-order feedforward and instantaneous feedback compound control law with dynamic time-varying characteristics is constructed: the high-order feedforward synthesizes the saturation extended control input and the modified tracking error of multiple historical iterations, and a saturation residual memory mechanism is introduced for adaptive anti-integral saturation compensation; the feedback term utilizes the current iteration error to suppress local fluctuations; a cooperative convergence condition of a time-varying learning gain matrix is given, the mathematical expectation of a tracking error is proved to converge to a bounded region related to the disturbance amplitude and the initial state offset; and under ideal conditions, the tracking error asymptotically converges to zero.