摘要
研究一类含有未知时变参数的非线性参数化系统的学习控制问题。利用参数分离技术和信号置换思想,通过置换系统方程,合并所有时变参数为一个未知时变参数,用迭代自适应方法估计该未知参数,设计了一种自适应迭代学习控制方法,使得跟踪误差的平方在一个有限区间上的积分渐近收敛于零。通过构造一个类Lyapunov函数,给出了跟踪误差收敛和所有闭环系统信号有界的一个充分条件。仿真结果验证了该方法的有效性。
The iterative learning control problem for a class of nonlinear parameterized systems with unknown time-varying parameters is discussed. By using the parameter separation technique and the signal replacement mechanism, the system equation is reconstructed. All unknown time-varying parameters are combined into an unknown time-varying vector which is estimated by an adaptive mechanism. An adaptive iterative learning control approach is designed to ensure the tracking error converging to zero in the mean-square sense on the finite interval. A sufficient condition for the convergence of tracking error and the boundedness of all signals is also given by constructing a Lyapunov-like function. The simulation results show the effectiveness of the proposed algorithm.
出处
《控制工程》
CSCD
北大核心
2009年第5期594-597,共4页
Control Engineering of China
基金
国家自然科学基金资助项目(60374015)
作者简介
王元亮（1983-），男，福建莆田人，研究生，主要研究方向为学习控制、智能控制等。
