迭代学习控制系统的误差跟踪设计方法

孙明轩; 严求真

doi:10.3724/SP.J.1004.2013.00251

迭代学习控制系统的误差跟踪设计方法

doi: 10.3724/SP.J.1004.2013.00251

1.
浙江工业大学信息工程学院杭州 310023

详细信息

通讯作者:
孙明轩

计量
- 文章访问数: 1969
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- 被引次数: 0
出版历程
- 收稿日期: 2011-06-10
- 修回日期: 2012-07-25
- 刊出日期: 2013-03-20

Error Tracking of Iterative Learning Control Systems

1.
College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023

摘要

摘要: 提出能够实现期望误差轨迹完全跟踪的迭代学习控制系统设计方法, 旨在放宽常规迭代学习控制方法的初始定位条件, 在每次迭代时允许初值定位在任意位置. 这种方法对于预先给定的期望误差轨迹, 经迭代学习, 使得实际跟踪误差收敛于预定的误差轨迹, 这样, 预设的误差轨迹即最终形成的误差轨迹. 针对常参数、时变参数以及复合参数三种情形, 分别采用类Lyapunov方法设计迭代学习控制系统. 所设计的未含/含限幅作用的参数学习律, 能够使得跟踪误差轨迹在整个作业区间上与预定轨迹完全吻合, 并保证系统中所有信号的有界性. 给出的仿真结果表明所提方法的有效性.
- 初值问题 /
- 收敛性 /
- 迭代学习控制 /
- 类Lyapunov方法
Abstract: This paper presents an iterative learning control method with which the error trajectory can be pre-specified. The method dose not require that the initial condition remains to be a fixed value for each iteration, whereas this requirement is usually assumed in conventional methods. The proposed strategy is to make the tracking error trajectory converge to the pre-specified one over the entire interval. The constant parametrization, time-varying parametrization, and a combined situation are respectively examined. By the Lyapunov-like approach, accordingly, learning laws are given and the learning systems are analyzed in details. With the help of unsaturated/saturated learning law, the system error coincides with the pre-specified error trajectory over the entire interval, and all the signals in close-loop system are guaranteed to be bounded. Numerical results are presented to demonstrate the effectiveness of the proposed learning control method.
- Initial condition problem /
- convergence /
- iterative learning control /
- Lyapunov-like approach

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参考文献(1)

[1]

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