控制理论与应用2016，Vol.33Issue(9)：1207-1213,7.DOI:10.7641/CTA.2016.50970
参考轨迹更新的点到点迭代学习控制算法优化及应用
Optimal algorithm and application for point to point iterative learning control via updating reference trajectory
摘要
Abstract
For the output tracking control problem of discrete linear system with non-repetitive disturbance, a point to point iterative learning control algorithm based on updating reference trajectory is proposed. Firstly, the iterative learning controller is optimized by constructing performance index with norm function, and the corresponding convergence con-ditions are given, then the system output can track with the desired points in updating reference trajectory. Furthermore, when the system output is affected by non-repetitive disturbance in some trials, a new multi-objective performance index function is constructed by Lagrange multiplier algorithm, and the robust iterative learning controller is optimized to im-prove the convergence speed and tracking accuracy. Finally, the simulation results of the motor driven single mechanical arm control system show the effectiveness and feasibility of the proposed algorithm.关键词
参考轨迹更新/迭代学习控制/性能指标/拉格朗日乘子/点到点Key words
updating reference trajectory/iterative learning control/performance index/Lagrange multiplier/point to point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..参考轨迹更新的点到点迭代学习控制算法优化及应用[J].控制理论与应用,2016,33(9):1207-1213,7.基金项目
国家自然科学基金项目(61273070,61203092)资助 （61273070,61203092）
