具有输入死区的非线性系统的鲁棒重复控制

朱胜; 孙明轩; 王雪洁; 李艳君; 方志刚

doi:10.3724/SP.J.1004.2013.00908

具有输入死区的非线性系统的鲁棒重复控制

doi: 10.3724/SP.J.1004.2013.00908

1.
浙江大学城市学院杭州 310015;
2.
浙江工业大学信息工程学院杭州 310023

基金项目:

国家自然科学基金(61174034, 61104149);浙江省自然科学基金(LQ12F03005);浙江大学城市学院教师基金(J12011)资助

详细信息

通讯作者:
朱胜

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- 被引次数: 0
出版历程
- 收稿日期: 2012-08-13
- 修回日期: 2013-01-28
- 刊出日期: 2013-06-20

Robust Repetitive Control for a Class of Nonlinear Systems with Input Deadzone

1.
Zhejiang University City College, Hangzhou 310015;
2.
Institute of Information and Control, College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023

Funds:

Supported by National Natural Science Foundation of China(61174034, 61104149), Natural Science Foundation of Zhejiang Province(LQ12F03005), and the Teacher Foundation of Zhejiang University City College(J12011)

摘要

摘要: 针对一类输入含死区非线性特性的周期时变系统, 在周期时变参数不可参数化的情形下设计鲁棒重复控制器. 采用微分自适应律估计未知死区参数, 剩余的有界项通过鲁棒方法予以消除, 为避免出现颤振现象, 采用饱和函数替代符号函数. 在系统输出跟踪周期轨迹的情形下, 将非参数化不确定项转化为含周期时变参数的形式, 以达到利用周期学习律进行估计的目的. 理论分析与仿真结果表明, 采用部分饱和或全饱和学习算法均能实现输出误差有界收敛, 并保证闭环系统所有信号有界.
- 输入死区 /
- 非参数化 /
- 周期时变参数 /
- 鲁棒重复控制
Abstract: This paper deals with the robust repetitive controller design for a class of nonlinear systems with input deadzone, without the assumption that the periodic uncertainties can be parameterized. The unknown parameters involved in the deadzone nonlinearity are estimated by using integral adaptive algorithms, while the bounded term is treated by a robust approach, and the saturation function is adopted to avoid the possible chattering phenomenon. The non-parametric uncertainty is expressed with a periodically time-varying function, to which the periodic learning approach can be applied for estimation purpose. It is shown by theoretical and numerical results that both partially-and fully-saturated learning algorithms are effective to ensure asymptotic convergence of the tracking error, as well as boundedness of all the signals in the closed-loop system.
- Input deadzone /
- non-parametrization /
- periodically time-varying parameter /
- robust repetitive control

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参考文献(17)

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