自动化学报2016，Vol.42Issue(4)：545-555,11.DOI:10.16383/j.aas.2016.c150480
任意初值非线性不确定系统的迭代学习控制
Iterative Learning Control for Nonlinear Uncertain Systems with Arbitrary Initial State
摘要
Abstract
This paper presents a filtering-error rectified adaptive iterative learning control method to tackle the trajectory-tracking problem for a class of both parametric and nonparametric uncertain systems in the presence of arbi-trary initial states. A novel rectification is made to modify the filtering-error error signal such that the learning control design and performance analysis could be simplified and easy for implementation. The proposed learning control design is a Lyapunov synthesis-based adaptive iterative learning control scheme. The Lipschitz-like assumption is used for handling nonparametric uncertainties, where the estimation for unknown time-varying parameters is given by learning mechanisms. As iteration increases, the rectified filtering-error converges to zero over the entire time interval, and the filtering-error itself converges to zero on the specified interval. Numerical results are presented to demonstrate effectiveness of the proposed learning control scheme.关键词
迭代学习控制/初值问题/参数不确定性/非参数不确定性/Lyapunov方法Key words
Iterative learning control/initial condition problem/parametric uncertainties/nonparametric uncertainties/Lyapunov approach引用本文复制引用
严求真,孙明轩,李鹤..任意初值非线性不确定系统的迭代学习控制[J].自动化学报,2016,42(4):545-555,11.基金项目
国家自然科学基金(61174034,61374103,61573320),浙江省高等学校访问学者专业发展项目(FX2013206)资助Supported by National Natural Science Foundation of China (61174034,61374103,61573320) and University Visiting Schol-ars Developing Project of Zhejiang Province (FX2013206) （61174034,61374103,61573320）
