非一致目标跟踪的自适应迭代学习控制OACHSSCD
Adaptive iterative learning control of different tracking tasks
针对含有时不变和时变参数的高阶非线性系统,利用Lyapunov方法和参数重组技巧,提出了一种自适应迭代学习控制算法.通过构造Lyapunov-like泛函,保证跟踪误差在一个有限区间上逐点收敛于零.该方法可以处理目标轨迹迭代可变的跟踪问题,对于目标变化没有特殊限制,克服了传统的迭代学习控制对目标轨线的限制,适用于目标较大变化的情况.举例说明了本文结果的可行性和有用性.
An adaptive iterative learning control algorithm is proposed for high-order nonlinear systems with time-invariant and time-varying parameters by using Lyapunov method and the parameter reconstruction technique. By constructing a Lyapunov-like functional, one can guarantee that the tracking error converges to zero point wisely on the finite interval. This method can deal with variable target trajectory tracking problems and has no'special restrictions to the …查看全部>>
孔祥朋
中国计量学院机电工程学院,浙江杭州310018
计算机与自动化
非线性系统自适应迭代学习控制非一致目标跟踪
nonlinear system adaptive iterative learning control non-identical trajectory tracking
《中国计量学院学报》 2012 (1)
90-94,5
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