非线性不确定系统准最优学习控制

严求真; 孙明轩

doi:10.16383/j.aas.2015.c140781

非线性不确定系统准最优学习控制

doi: 10.16383/j.aas.2015.c140781

严求真^1,2,
孙明轩^1, ,

1.
浙江工业大学信息工程学院杭州 310023;
2.
浙江水利水电学院信息工程学院杭州 310018

基金项目:

国家自然科学基金(60874041,61174034,61374103),浙江省高等学校访问学者专业发展项目(FX2013206)资助

详细信息

作者简介:
严求真浙江工业大学信息工程学院博士研究生.主要研究方向为学习控制.E-mail:zjyqz@126.com

通讯作者:
孙明轩浙江工业大学信息工程学院教授.主要研究方向为学习控制.本文通信作者.E-mail:mxsun@zjut.edu.cn

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- 文章访问数: 1736
- HTML全文浏览量: 100
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- 被引次数: 73
出版历程
- 收稿日期: 2014-11-13
- 修回日期: 2015-03-03
- 刊出日期: 2015-09-20

Suboptimal Learning Control for Nonlinear Systems with Both Parametric and Nonparametric Uncertainties

YAN Qiu-Zhen^1,2,
SUN Ming-Xuan^{1
, ,}

1.
College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023;
2.
College of Information Engineering, Zhejiang University of Water Resources and Electric Power, Hangzhou 310018

Funds:

Supported by National Natural Science Foundation of China (60874041, 61174034, 61374103) and University Visiting Scholars Developing Project of Zhejiang Province (FX2013206)

摘要

摘要: 针对不确定非线性系统, 提出准最优学习控制方法, 解决参数与非参数不确定特性同时存在情形下的轨迹跟踪问题. 给出迭代学习与重复学习两种控制策略, 根据Sontag公式解决标称系统的优化控制, 并以鲁棒学习手段处理参数与非参数不确定特性. 提出断续函数连续化方案, 以避免传统Sontag公式在实现时可能存在的颤振问题. 分析证明经过足够多次迭代或足够多个周期的重复运行后, 闭环系统可实现系统状态以预设精度跟踪参考信号. 仿真结果表明所设计学习系统在收敛速度方面快于非优化设计.
- 准最优非线性控制 /
- 学习控制 /
- 参数化 /
- 非参数不确定性
Abstract: In this paper, two suboptimal learning control methods, an iterative one and a repetitive one, are proposed for a class of nonlinear systems with both time-varying parametric and nonparametric uncertainties. Sontag formula is used for the control design of a nominal system, while the robust learning mechanism is adopted to deal with both parametric and nonparametric uncertainties. A continuous controller design is carried out in order to avoid the chattering phenomenon that may arise due to the use of Sontag formula. It is shown that the closed-loop system state follows the desired trajectory with the pre-specified accuracy, as iteration or repetition increases. Numerical results demonstrate the effectiveness of the suboptimal learning control scheme.
- Suboptimal nonlinear control /
- learning control /
- parametrization /
- nonparametric uncertainties

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参考文献(24)

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