Adaptive Iterative Learning Control for MIMO Systems with Nonuniform Trial Lengths and Alignment Constraints.
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| Title: | Adaptive Iterative Learning Control for MIMO Systems with Nonuniform Trial Lengths and Alignment Constraints. |
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| Authors: | Zhu, Xuefeng1 zxf627@sina.com, Ji, Shuai2 278885189@qq.com, Zhang, Yubo3 zhangyubo@sie.edu.cn, Wang, Hongjiang4 wanghongjiang@sie.edu.cn, Dai, Qin1 daiq@sie.edu.cn |
| Source: | IAENG International Journal of Applied Mathematics. Mar2026, Vol. 56 Issue 3, p1041-1050. 10p. |
| Subjects: | Iterative learning control, Adaptive control systems, Nonlinear systems, Robotic trajectory control, Mathematical analysis, Multivariable control systems |
| Abstract: | This paper presents an adaptive iterative learning control (ILC) framework for multi-input multi-output (MIMO) nonlinear systems subject to nonuniform trial lengths and alignment constraints. To relax the requirement of identical initial conditions across iterations, a smooth reference-trajectory modification mechanism is introduced, while error boundedness and constraint satisfaction during the learning process are guaranteed by a bounded constraint function constructed within the barrier composite energy function (BCEF) framework. By integrating virtual tracking errors with a nonlinear saturationbased adaptive learning law, the proposed control scheme achieves robust parameter adaptation and uniform convergence of the closed-loop error dynamics in the presence of timevarying trial durations and external disturbances. A rigorous convergence analysis, developed using Lyapunov incremental functions and integral inequality theory, establishes the asymptotic convergence of the tracking errors. Simulation studies conducted on a two-degree-of-freedom robotic manipulator demonstrate that the proposed method yields rapid convergence and high-precision trajectory tracking, thereby confirming its robustness and practical applicability to complex nonlinear industrial systems. [ABSTRACT FROM AUTHOR] |
| Copyright of IAENG International Journal of Applied Mathematics is the property of International Association of Engineers (IAENG) and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
| FullText | Links: – Type: pdflink Text: Availability: 0 |
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| Header | DbId: egs DbLabel: Engineering Source An: 191967203 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Adaptive Iterative Learning Control for MIMO Systems with Nonuniform Trial Lengths and Alignment Constraints. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Zhu%2C+Xuefeng%22">Zhu, Xuefeng</searchLink><relatesTo>1</relatesTo><i> zxf627@sina.com</i><br /><searchLink fieldCode="AR" term="%22Ji%2C+Shuai%22">Ji, Shuai</searchLink><relatesTo>2</relatesTo><i> 278885189@qq.com</i><br /><searchLink fieldCode="AR" term="%22Zhang%2C+Yubo%22">Zhang, Yubo</searchLink><relatesTo>3</relatesTo><i> zhangyubo@sie.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Wang%2C+Hongjiang%22">Wang, Hongjiang</searchLink><relatesTo>4</relatesTo><i> wanghongjiang@sie.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Dai%2C+Qin%22">Dai, Qin</searchLink><relatesTo>1</relatesTo><i> daiq@sie.edu.cn</i> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22IAENG+International+Journal+of+Applied+Mathematics%22">IAENG International Journal of Applied Mathematics</searchLink>. Mar2026, Vol. 56 Issue 3, p1041-1050. 10p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Iterative+learning+control%22">Iterative learning control</searchLink><br /><searchLink fieldCode="DE" term="%22Adaptive+control+systems%22">Adaptive control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Nonlinear+systems%22">Nonlinear systems</searchLink><br /><searchLink fieldCode="DE" term="%22Robotic+trajectory+control%22">Robotic trajectory control</searchLink><br /><searchLink fieldCode="DE" term="%22Mathematical+analysis%22">Mathematical analysis</searchLink><br /><searchLink fieldCode="DE" term="%22Multivariable+control+systems%22">Multivariable control systems</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: This paper presents an adaptive iterative learning control (ILC) framework for multi-input multi-output (MIMO) nonlinear systems subject to nonuniform trial lengths and alignment constraints. To relax the requirement of identical initial conditions across iterations, a smooth reference-trajectory modification mechanism is introduced, while error boundedness and constraint satisfaction during the learning process are guaranteed by a bounded constraint function constructed within the barrier composite energy function (BCEF) framework. By integrating virtual tracking errors with a nonlinear saturationbased adaptive learning law, the proposed control scheme achieves robust parameter adaptation and uniform convergence of the closed-loop error dynamics in the presence of timevarying trial durations and external disturbances. A rigorous convergence analysis, developed using Lyapunov incremental functions and integral inequality theory, establishes the asymptotic convergence of the tracking errors. Simulation studies conducted on a two-degree-of-freedom robotic manipulator demonstrate that the proposed method yields rapid convergence and high-precision trajectory tracking, thereby confirming its robustness and practical applicability to complex nonlinear industrial systems. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of IAENG International Journal of Applied Mathematics is the property of International Association of Engineers (IAENG) and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 10 StartPage: 1041 Subjects: – SubjectFull: Iterative learning control Type: general – SubjectFull: Adaptive control systems Type: general – SubjectFull: Nonlinear systems Type: general – SubjectFull: Robotic trajectory control Type: general – SubjectFull: Mathematical analysis Type: general – SubjectFull: Multivariable control systems Type: general Titles: – TitleFull: Adaptive Iterative Learning Control for MIMO Systems with Nonuniform Trial Lengths and Alignment Constraints. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Zhu, Xuefeng – PersonEntity: Name: NameFull: Ji, Shuai – PersonEntity: Name: NameFull: Zhang, Yubo – PersonEntity: Name: NameFull: Wang, Hongjiang – PersonEntity: Name: NameFull: Dai, Qin IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 03 Text: Mar2026 Type: published Y: 2026 Identifiers: – Type: issn-print Value: 19929978 Numbering: – Type: volume Value: 56 – Type: issue Value: 3 Titles: – TitleFull: IAENG International Journal of Applied Mathematics Type: main |
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