| 引用本文: | 严求真,孙明轩.非参数不确定系统状态受限误差跟踪学习控制方法[J].控制理论与应用,2015,32(7):895~901.[点击复制] |
| YAN Qiu-zhen,SUN Ming-xuan.Error-tracking iterative learning control with state constrained for nonparametric uncertain systems[J].Control Theory and Technology,2015,32(7):895~901.[点击复制] |
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| 非参数不确定系统状态受限误差跟踪学习控制方法 |
| Error-tracking iterative learning control with state constrained for nonparametric uncertain systems |
| 摘要点击 3073 全文点击 1545 投稿时间：2014-08-02 修订日期：2015-05-06 |
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| DOI编号 10.7641/CTA.2015.40713 |
| 2015,32(7):895-901 |
| 中文关键词 迭代学习控制 状态约束 初值问题 非参数不确定性 |
| 英文关键词 iterative learning control constrained state initial condition problem nonparametric uncertainties |
| 基金项目 国家自然科学基金项目(60874041, 61174034, 61374103), 浙江省高等学校访问学者专业发展项目(FX2013206)资助. |
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| 中文摘要 |
| 针对一类非参数不确定系统, 提出误差跟踪学习控制方法, 同时解决学习控制系统的初值问题 和状态约束问题. 利用障碍Lyapunov函数设计控制器, 采用鲁棒方法与学习方法相结合的策略处理 非参数不确定性, 将滤波误差约束于预设的界内, 并由此实现对系统状态在各次迭代运行过 程中的约束. 文中构造了一种期望误差轨迹, 经过足够多次迭代后, 所提控制方法使得系 统误差在整个作业区间以预设精度跟踪期望误差轨迹, 系统状态在部分作业区间精确跟踪 参考信号. 仿真结果表明了该控制方案的有效性. |
| 英文摘要 |
| We present an error-tracking iterative learning control method for a class of nonparametric uncertain systems to tackle simultaneously both the initial condition problem and the state-constrained problem. The learning controller is designed by using the barrier Lyapunov function, and the robust learning approach is applied to deal with the nonparametric uncertainties, by which the filtered error is constrained in a pre-specified region, with the system states being constrained. A kind of desired error trajectory is constructed in this paper. It is shown that as the number of iterations increases, the tracking error of the closed-loop system follows the desired error trajectory with the pre-specified accuracy over the entire time interval, and the system states track the reference signal perfectly on the specified interval. Numerical results are presented to demonstrate the effectiveness of the learning control scheme. |
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