State-constrained iterative learning control for a class of MIMO systems

In this note, we present a novel iterative learning control (ILC) method for a class of state-constrained multi-input multi-output (MIMO) nonlinear system under state alignment condition with both parametric and nonparametric uncertainties. Nonparametric uncertainties such as norm-bounded nonlinear uncertainties satisfying local Lipschitz condition can be effectively handled. Barrier Composite Energy Function (BCEF) scheme with a novel Barrier Lyapunov Function is proposed to facilitate the analysis of state tracking error convergence while satisfying the state constraints. In the end, an illustrative example is shown to demonstrate the efficacy of the proposed ILC method.