自动化学报2026，Vol.52Issue(4)：794-804,11.DOI:10.16383/j.aas.c250383
一类不确定离散时间系统有限次迭代学习误差跟踪控制
Finite-iteration Learning Error-tracking Control for a Class of Uncertain Discrete-time Systems
摘要
Abstract
In this paper,a finite-iteration learning error-tracking control method is proposed for the trajectory tracking problem of a class of uncertain discrete-time systems that perform repetitive tasks in finite time.Firstly,a desired error trajectory that is independent of the reference trajectory is constructed to relax the initial value con-sistency condition in traditional iterative learning control.Moreover,the design of the discrete form of the desired error trajectory only requires the initial error values for each iteration,simplifying the design requirements.Secondly,by constructing a saturated iterative attraction law along the iterative axis,an iterative learning control-ler with disturbance compensation is designed,and the steady-state error band of the tracking error and the expres-sion of the maximum number of iterations required to meet the accuracy requirements are derived.The controller parameters are selected based on the expected accuracy,and the robustness of the system is guaranteed in the para-meter design stage to achieve finite-iteration convergence of the tracking error.Finally,the effectiveness of the pro-posed control method is verified through numerical simulation and experimental results.关键词
有限次迭代学习控制/误差跟踪/不确定离散时间系统/迭代吸引律Key words
finite-iteration learning control/error-tracking/uncertain discrete-time system/iterative attraction law引用本文复制引用
陈强,葛之琳,成云,王守勤,何熊熊..一类不确定离散时间系统有限次迭代学习误差跟踪控制[J].自动化学报,2026,52(4):794-804,11.基金项目
国家自然科学基金(U25A20452,62222315,62233016),浙江省自然科学基金重点项目(LZ26F030004),浙江省属高校基本科研业务费专业资金(RF-C2024001),浙江省博士后科研项目择优(ZJ2024063)资助 Supported by National Natural Science Foundation of China(U25A20452,62222315,62233016),Zhejiang Provincial Natural Science Foundation of China(LZ26F030004),Fundamental Re-search Funds for the Provincial Universities of Zhejiang(RF-C2024001),and Zhejiang Postdoctoral Research Project Optimal Foundation of China(ZJ2024063) （U25A20452,62222315,62233016）
