非线性时滞系统的高阶迭代学习控制
Robust Higher Order Iterative Learning Control Algorithm for Tracking Control of Delayed Repeated Systems
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摘要: 针对非线性时滞系统,讨论了输出跟踪控制的高阶迭代学习算法,并给出了算法的收敛性 证明.当由于重复定位等原因造成初态偏差时,提出一种反复学习方案,完成初态和轨迹跟 踪,它对初态偏差有较强的鲁棒性.仿真结果表明了该算法的有效性.Abstract: A robust higher order iterative learning control algorithm is proposed to perform the output tracking control of delayed repetitive systems. The proof of the convergency for this kind of iterative learning control algorithm is given in more general case. When there exists bias in initial states, a repetitive learning scheme is proposed to make the algorithm more robust with respect to this bias. Compound numerical simulation results indicate the effectiveness and usefulness of the algorithm.
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Key words:
- Iterative algorithm /
- tracking control /
- delayed systems
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