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非最小相位系统的基函数型自适应迭代学习控制

张黎 刘山

张黎, 刘山. 非最小相位系统的基函数型自适应迭代学习控制. 自动化学报, 2014, 40(12): 2716-2725. doi: 10.3724/SP.J.1004.2014.02716
引用本文: 张黎, 刘山. 非最小相位系统的基函数型自适应迭代学习控制. 自动化学报, 2014, 40(12): 2716-2725. doi: 10.3724/SP.J.1004.2014.02716
ZHANG Li, LIU Shan. Basis Function Based Adaptive Iterative Learning Control for Non-minimum Phase Systems. ACTA AUTOMATICA SINICA, 2014, 40(12): 2716-2725. doi: 10.3724/SP.J.1004.2014.02716
Citation: ZHANG Li, LIU Shan. Basis Function Based Adaptive Iterative Learning Control for Non-minimum Phase Systems. ACTA AUTOMATICA SINICA, 2014, 40(12): 2716-2725. doi: 10.3724/SP.J.1004.2014.02716

非最小相位系统的基函数型自适应迭代学习控制

doi: 10.3724/SP.J.1004.2014.02716
基金项目: 

国家自然科学基金(61273133)资助

详细信息
    作者简介:

    张黎 浙江大学控制科学与工程学系硕士研究生. 主要研究方向为迭代学习控制, 柔性机械臂控制.E-mail: zhangli@iipc.zju.edu.cn

    通讯作者:

    刘山 浙江大学控制科学与工程学系副教授. 2002 年获浙江大学控制科学与工程学系博士学位. 主要研究方向为智能控制, 学习控制, 机器人技术. 本文通信作者. E-mail: sliu@iipc.zju.edu.cn

Basis Function Based Adaptive Iterative Learning Control for Non-minimum Phase Systems

Funds: 

Supported by National Natural Science Foundation of China (61273133)

  • 摘要: 针对重复运行的未知非最小相位系统的轨迹跟踪问题, 结合时域稳定逆特点, 提出了一种新的基函数型自适应迭代学习控制(Basis function based adaptive iterative learning control, BFAILC)算法. 该算法在迭代控制过程中应用自适应迭代学习辨识算法估计基函数模型, 采用伪逆型学习律逼近系统的稳定逆, 保证了迭代学习控制的收敛性和鲁棒性. 以傅里叶基函数为例, 通过在非最小相位系统上的控制仿真, 验证了算法的有效性.
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出版历程
  • 收稿日期:  2013-09-16
  • 修回日期:  2014-04-10
  • 刊出日期:  2014-12-20

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