控制理论与应用2012，Vol.29Issue(8)：993-1000,8.
具有初始状态不确定性的非线性系统脉冲补偿迭代学习控制
Pulse compensated iterative learning control to nonlinear systems with initial state uncertainty
摘要
Abstract
A type of rectangular pulse is adopted to compensate for conventional proportional-derivative-type firstorder and second-order iterative learning controllers of nonlinear time-invariant systems with initial state uncertainty,The tracking error is measured in the form of Lebesgue-p norm and the tracking performance is analyzed by the technique of generalized Young inequality of convolution integral.The analysis shows that the asymptotical tracking error is incurred by the initial state uncertainty and can be eliminated by tuning the compensation gain in the presuppose that the proportional and derivative learning gains together with the Lipschitz constant of the nonlinear state function are properly chosen to guarantee that convergence factor is less than one.Numerical simulations exhibit the validity of the theoretical derivation and the effectiveness of the compensation strategy.关键词
迭代学习控制/非线性系统/脉冲补偿/初始状态不确定性/Lebesgue-p范数Key words
iterative learning control/nonlinear systems/pulse compensation/initial state uncertainty/Lebesgue-p norm分类
信息技术与安全科学引用本文复制引用
阮小娥,赵建永..具有初始状态不确定性的非线性系统脉冲补偿迭代学习控制[J].控制理论与应用,2012,29(8):993-1000,8.基金项目
This work was supported by the National Natural Science Foundation of China (No.F030114-60974140). （No.F030114-60974140）
