Adaptive Vibration Iterative Learning Control of an Euler–Bernoulli Beam System With Input Saturation
针对参数不精确、非对称输入饱和及外部周期扰动的欧拉-伯努利梁，提出一种结合参数自适应律和迭代学习项的边界控制方案，并设计辅助系统补偿输入非线性，通过仿真验证了该方案的有效性。
This article focuses on solving the problem of vibration attenuation of an Euler–Bernoulli beam system considering imprecise system parameters, asymmetric input saturation, and external period disturbance. By employing the backstepping technique, a kind of boundary control scheme composed of parameter adaptive laws and iterative learning terms is recommended to attenuate vibration for the flexible beam system. And a functional auxiliary system is devised to make up for the influence of input nonlinearity on the system. With the presented control scheme, the well-posedness of the beam system is proved via semigroup theory and the output signal is guaranteed bounded with the aid of rigorous Lyapunov analysis. Eventually, a simulation experiment is available in the MATLAB to expatiate on the suggested controllers’ availability and simulation diagrams also highlight that the boundary controller based on parameter adaptive law with iteration term shows better control performance than that without iteration terms.