Learning control for a class of nonlinear differential-algebraic systems with application to constrained robots

This paper presents an iterative learning scheme for nonlinear control systems described by a class of differential-algebraic equations. The authors derive a sufficient condition for the convergence of both the motion and constraint input of the systems as the operations are repeated. Furthermore, the authors illustrate the role of constraint input learning in learning control of such control systems. An application of the proposed controller to robotic manipulators with holonomic constraints is discussed.