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

摘要: Abstract Contraction mapping methods do not need to know about the concrete form of plant models like Lyapunov method. This is biggest advantage over other in field iterative learning control for example. However, it difficult use such a tool analyze repetitive systems. paper proposes contraction method based on spectral theory design saturated controller class nonlinear systems, where derived necessary and sufficient condition radius can reduce conservatism as much possible. The feasibility our work demonstrated through robotic manipulator tracking