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加速抑制随机初态误差影响的迭代学习控制

吕庆 方勇纯 任逍

吕庆, 方勇纯, 任逍. 加速抑制随机初态误差影响的迭代学习控制. 自动化学报, 2014, 40(7): 1295-1302. doi: 10.3724/SP.J.1004.2014.01295
引用本文: 吕庆, 方勇纯, 任逍. 加速抑制随机初态误差影响的迭代学习控制. 自动化学报, 2014, 40(7): 1295-1302. doi: 10.3724/SP.J.1004.2014.01295
LV Qing, FANG Yong-Chun, REN Xiao. Iterative Learning Control for Accelerated Inhibition Effect of Initial State Random Error. ACTA AUTOMATICA SINICA, 2014, 40(7): 1295-1302. doi: 10.3724/SP.J.1004.2014.01295
Citation: LV Qing, FANG Yong-Chun, REN Xiao. Iterative Learning Control for Accelerated Inhibition Effect of Initial State Random Error. ACTA AUTOMATICA SINICA, 2014, 40(7): 1295-1302. doi: 10.3724/SP.J.1004.2014.01295

加速抑制随机初态误差影响的迭代学习控制

doi: 10.3724/SP.J.1004.2014.01295
基金项目: 

国家自然科学基金(61127006,61325017)资助

详细信息
    作者简介:

    吕庆 南开大学机器人与信息自动化研究所博士研究生. 主要研究方向为迭代学习控制及其在原子力显微镜中的应用. E-mail:lvq@robot.nankai.edu.cn

Iterative Learning Control for Accelerated Inhibition Effect of Initial State Random Error

Funds: 

Supported by National Natural Science Foundation of China (61127006, 61325017)

  • 摘要: 针对一类具有不确定性的多输入多输出非线性系统,提出一种迭代学习控制算法.该算法具有的特点是:针对任意初态情形,结合开环 D型迭代学习控制器的优点,在时间轴上设计了一个随迭代次数增加而缩短的时间段.在该时间段上,控制算法对状态偏差进行修正,以使系统输出在此段时间后跟踪期望输出,且系统跟踪误差收敛到一个界内.这个界仅由系统自身不确定性和不确定的外界干扰决定,与初态误差无关.当外界扰动为0,以及迭代次数趋于无穷时,经过上述时间段后,系统输出精确跟踪期望输出.理论证明和仿真结果都说明了该算法的有效性.
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出版历程
  • 收稿日期:  2013-07-19
  • 修回日期:  2013-12-16
  • 刊出日期:  2014-07-20

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