| 引用本文: | 孙云平,李俊民,李 靖.一类非线性参数化系统自适应重复学习控制[J].控制理论与应用,2009,26(2):228~232.[点击复制] |
| SUN Yun-ping,LI Jun-min,LI Jing.Adaptive repetitive learning control for a class of nonlinearly parameterized uncertain systems[J].Control Theory and Technology,2009,26(2):228~232.[点击复制] |
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| 一类非线性参数化系统自适应重复学习控制 |
| Adaptive repetitive learning control for a class of nonlinearly parameterized uncertain systems |
| 摘要点击 1247 全文点击 2312 投稿时间：2008-01-14 修订日期：2008-07-05 |
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| DOI编号 |
| 2009,26(2):228-232 |
| 中文关键词 非线性参数化系统 混合型参数 自适应控制 重复学习控制 Lyapunov泛函 |
| 英文关键词 nonlinearly parameterized uncertain systems mixed parametric adaptive control repetitive learning control Lyapunov functional |
| 基金项目 国家自然科学基金资助项目(60374015). |
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| 中文摘要 |
| 针对一类高阶非线性参数化系统, 利用分段积分机制, 提出了一种新的自适应重复学习控制方法. 该方法结合反馈线性化, 可以处理参数在一个未知紧集内周期性快时变的非线性系统, 通过引进微分-差分混合型参数自适应律, 设计了一种自适应控制策略, 使广义跟踪误差在误差平方范数意义下渐近收敛于零, 通过构造Lyapunov泛函, 给出闭环系统收敛的一个充分条件. 实例仿真结果说明了该方法的可行性. |
| 英文摘要 |
| Combining the pointwise integral mechanism with the feedback linearization approach, we propose a novel adaptive repetitive learning control for higher-order nonlinearly parameterized uncertain systems with time-varying and time-invariant parameters. This control can be applied to an uncertain system with time-varying parameters which are
varying rapidly and periodically in an unknown compact set. A differential-difference mixed-type adaptive law and an adaptive repetitive learning control law are configured to ensure the asymptotic convergence of the extended tracking error in the sense of square error-norm. Also, a sufficient condition of the convergence of the method is given by constructing a Lyapunov functional. A simulation example illustrates the feasibility of the proposed method. |
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