控制理论与应用2017，Vol.34Issue(1)：77-84,8.DOI:10.7641/CTA.2017.60161
含输入死区系统的滤波误差初始修正迭代学习控制
Filtering-error rectified iterative learning control for systems with input dead-zone
摘要
Abstract
This paper presents the filtering-error rectified adaptive iterative learning control algorithms to tackle the trajectory-tracking problem for a class of nonparametric uncertain systems with unknown input dead-zone, in the presence of arbitrary initial states. To overcome the arbitrary initial states, two construction programs of the rectified filtering-error are proposed. Two iterative learning controllers are designed by applying Lyapunov synthesis, suitable to the case that the lower bound of the dead-zone's slope is known and the case that it is unknown respectively, dealing with the nonparametric uncertainties and the unknown dead-zone nonlinearity according to the robust learning strategy. As iteration increases, the filtering error converges to zero on the specified interval. The rectified filtering-error signal can be simply constructed, and the proposed learning control scheme, whose effectiveness is demonstrated in the presented numerical results, is easy for implementation.关键词
死区/迭代学习控制/初值问题/非参数不确定性/Lyapunov方法Key words
dead-zone/iterative learning control/initial condition problem/nonparametric uncertainties/Lyapunov approach分类
信息技术与安全科学引用本文复制引用
严求真,孙明轩,蔡建平..含输入死区系统的滤波误差初始修正迭代学习控制[J].控制理论与应用,2017,34(1):77-84,8.基金项目
国家自然科学基金项目(61374103, 61573320, 61573322) （61374103, 61573320, 61573322）
浙江省公益技术应用研究项目(2016C32093, 2017C33155) （2016C32093, 2017C33155）
浙江省教育厅科研项目(Y201635861)资助. Supported by National Natural Science Foundation of China (61374103, 61573320, 61573322) （Y201635861）
Science and Technology Project of Zhejiang Pro-vince (2016C32093, 2017C33155) （2016C32093, 2017C33155）
and Scientific Research Project of Education Department of Zhejiang Province (Y201635861). （Y201635861）
