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基于有限时间跟踪微分器的迭代学习控制

DOI: 10.3724/SP.J.1004.2014.01366, PP. 1366-1375

Keywords: 有限时间跟踪微分器,迭代学习控制,初始状态问题,类Lyapunov方法

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Abstract:

?针对迭代学习控制(Iterativelearningcontrol,ILC)中的初始状态问题,提出了采用有限时间跟踪微分器安排过渡过程方法,根据迭代学习控制中期望轨迹已知的特点,设计了其参数有明显物理意义并且调节方便的有限时间跟踪微分器.在此基础上,针对一类具有不确定性的非线性时变系统的迭代学习控制问题,提出了具有对不确定项进行估计的迭代学习控制算法,并应用类Lyapunov方法给出了相关定理证明.仿真结果表明所提出的方法是有效的.

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