信息与控制2016，Vol.45Issue(4)：385-390,6.DOI:10.13976/j.cnki.xk.2016.0385
离散非线性系统的迭代学习轨迹跟踪鲁棒算法优化及应用
Robust Optimization and Application of Iterative Learning Trajectory Tracking Algorithm for Discrete Nonlinear Systems
摘要
Abstract
For a class of discrete nonlinear repeated systems with random input and output disturbances,we propose an open-closed loop P-type robust iterative learning trajectory tracking control algorithm for cases in which the initial states are not strictly identical to given expected values.Based on theλnorm theory,we prove the ro-bust stability of the iterative learning algorithm,and optimize the gain matrix parameters of the P-type open-closed control law based on the performance of the multiple objective function.In this way,the monotonic convergence of the trajectory output tracking error can be guaranteed by the optimization algorithm,which im-proves the convergence speed and tracking accuracy.Lastly,our simulation results of a mobile robot in two-dimensional motion show the effectiveness and feasibility of the proposed algorithm.关键词
非线性离散系统/迭代学习控/制优化性能指标/开闭环Key words
nonlinear discrete system/iterative learning control/optimization performance index/open-closed loop分类
信息技术与安全科学引用本文复制引用
陶洪峰,董晓齐,杨慧中..离散非线性系统的迭代学习轨迹跟踪鲁棒算法优化及应用[J].信息与控制,2016,45(4):385-390,6.基金项目
国家自然科学基金资助项目（61273070，61203092）；高等学校学科创新引智计划资助项目（B12018）；江苏省高校优势学科建设工程资助项目；江苏省产学研前瞻性联合研究项目 （）
