一类不确定系统的重复学习控制方法

管海娃; 孙明轩

doi:10.16383/j.aas.c180350

一类不确定系统的重复学习控制方法

doi: 10.16383/j.aas.c180350

管海娃^1,2,,
孙明轩^1, ,

1.
浙江工业大学信息工程学院杭州 310023
2.
温州科技职业学院温州 325006

基金项目:

国家自然科学基金 61174034

国家自然科学基金 61573320

详细信息

作者简介:
管海娃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: guanhaiwa1026@163.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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出版历程
- 收稿日期: 2018-05-26
- 录用日期: 2018-09-10
- 刊出日期: 2020-01-21

Repetitive Learning Control Method for a Class of Uncertain Systems

GUAN Hai-Wa^{1,2
,},
SUN Ming-Xuan^{1
, ,}

1.
College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023
2.
Wenzhou Vocational College of Science and Technology, Wenzhou 325006

Funds:

National Natural Science Foundation of China 61174034

National Natural Science Foundation of China 61573320

More Information

Author Bio:
GUAN Hai-Wa Ph. D. candidate at the College of Information Engineering, Zhejiang University of Technology. Her main research interest is learning control.)

Corresponding author: SUN Ming-Xuan Professor at the College of Information Engineering, Zhejiang University of Technology. His main research interest is learning control. Corresponding author of this paper.)

摘要

摘要: 针对一类不确定非线性系统, 结合Backstepping方法, 设计重复学习控制方法.采用Lyapunov-like综合, 设计重复学习控制器处理系统中的参数和非参数不确定性, 可实现系统状态在整个作业区间上完全跟踪期望轨迹.分别讨论部分限幅和完全限幅学习机制, 证明闭环系统中各变量的一致有界性以及跟踪误差的一致收敛性.仿真结果验证了所提出控制方法的有效性.
- 重复学习控制 /
- 参数化 /
- 非参数化 /
- 不确定系统
Abstract: This paper presents a repetitive learning control approach for a class of uncertain nonlinear systems by means of the backstepping method. Based on Lyapunov-like synthesis, a learning controller is designed for handling parametric and nonparametric uncertainties, such that system state can completely track the reference trajectory over the whole time interval after many iterations. Both the partially-saturated and fully-saturated learning mechanisms are discussed respectively. The uniform boundedness of all variables in the closed-loop system and the uniform convergence of the tracking error are guaranteed. Simulation results demonstrate the effectiveness of the method.
- Repetitive learning control /
- parametrization /
- nonparametrization /
- uncertain systems
Recommended by Associate Editor HOU Zhong-Sheng
注释:

1) 本文责任编委侯忠生

HTML全文

图 1 $x_{1}$及参考轨迹$r_{1}$

Fig. 1 $x_{1}$ and the reference trajectory $r_{1}$

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图 2 $x_{2}$及参考轨迹$r_{2}$

Fig. 2 $x_{2}$ and the reference trajectory $r_{2}$

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图 3 变量$z_{1}$

Fig. 3 The variable $z_{1}$

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图 4 变量$z_{2}$

Fig. 4 The variable $z_{2}$

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图 5 控制输入$u$

Fig. 5 The control input $u$

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图 6 指标$J_{1, k}$

Fig. 6 The index $J_{1, k}$

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图 7 指标$J_{2, k}$

Fig. 7 The index $J_{2, k}$

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参考文献(21)

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一类不确定系统的重复学习控制方法

doi: 10.16383/j.aas.c180350

作者简介:
管海娃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: guanhaiwa1026@163.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

计量

Repetitive Learning Control Method for a Class of Uncertain Systems

Author Bio:
GUAN Hai-Wa Ph. D. candidate at the College of Information Engineering, Zhejiang University of Technology. Her main research interest is learning control.)

Corresponding author: SUN Ming-Xuan Professor at the College of Information Engineering, Zhejiang University of Technology. His main research interest is learning control. Corresponding author of this paper.)

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留言板

一类不确定系统的重复学习控制方法

doi: 10.16383/j.aas.c180350

作者简介: 管海娃 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: guanhaiwa1026@163.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

计量

出版历程

Repetitive Learning Control Method for a Class of Uncertain Systems

Author Bio: GUAN Hai-Wa Ph. D. candidate at the College of Information Engineering, Zhejiang University of Technology. Her main research interest is learning control.)

Corresponding author: SUN Ming-Xuan Professor at the College of Information Engineering, Zhejiang University of Technology. His main research interest is learning control. Corresponding author of this paper.)

计量

出版历程

目录

作者简介:
管海娃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: guanhaiwa1026@163.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

Author Bio:
GUAN Hai-Wa Ph. D. candidate at the College of Information Engineering, Zhejiang University of Technology. Her main research interest is learning control.)