迭代学习控制的参考信号初始修正方法

严求真; 孙明轩; 蔡建平

doi:10.16383/j.aas.2017.c160292

迭代学习控制的参考信号初始修正方法

doi: 10.16383/j.aas.2017.c160292

1.
浙江水利水电学院信息工程学院杭州 310018
2.
浙江工业大学信息工程学院杭州 310023
3.
浙江水利水电学院应用数学研究所杭州 310018

基金项目:

浙江省教育厅科研项目 Y201635861

国家自然科学基金 61374103

国家自然科学基金 61573322

浙江省公益技术研究项目 2017C33155

浙江省公益技术研究项目 2016C32093

国家自然科学基金 61573320

详细信息

作者简介:
严求真浙江水利水电学院信息工程学院讲师.主要研究方向为学习控制.E-mail:zjyqz@126.com

蔡建平浙江水利水电学院应用数学研究所副教授.主要研究方向为自适应控制.E-mail:caijp@zjweu.edu.cn

通讯作者:
孙明轩浙江工业大学信息工程学院教授.主要研究方向为学习控制.本文通信作者.E-mail:mxsun@zjut.edu.cn

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出版历程
- 收稿日期: 2016-03-26
- 录用日期: 2016-09-11
- 刊出日期: 2017-08-20

Reference-signal Rectifying Method of Iterative Learning Control

1.
College of Information Engineering, Zhejiang University of Water Resources and Electric Power, Hangzhou 310018
2.
College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023
3.
Institute of Applied Mathematics, Zhejiang University of Water Resources and Electric Power, Hangzhou 310018

Funds:

Scientiflc Research Project of Education Department of Zhejiang Province Y201635861

National Natural Science Foundation of China 61374103

National Natural Science Foundation of China 61573322

Science and Technology Project of Zhejiang Province 2017C33155

Science and Technology Project of Zhejiang Province 2016C32093

National Natural Science Foundation of China 61573320

More Information

Author Bio:
Lecture at the College of Information Engineering, Zhejiang University of Water Resources and Electric Power. His main research interest is learning control

Associate professor at the Institute of Applied Mathematics, Zhejiang University of Water Resources and Electric Power. His main research interest is adaptive control

Corresponding author: SUN Ming-Xuan Professor at the College of Information Engineering, Zhejiang University of Technology. His main research interest is learning control. Corresponding author of this paper

摘要

摘要: 针对一类非参数不确定系统，提出状态受限迭代学习控制的参考信号初始修正方法，以解决任意初态下的状态受限轨迹跟踪问题.通过构造修正参考信号，利用一种新型的障碍Lyapunov函数设计迭代学习控制系统，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，经过足够多次迭代后，可实现系统状态在整个作业区间上对修正参考信号的零误差跟踪，以及在预设作业区间上对参考信号的零误差跟踪.同时，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.仿真结果表明了本文所提控制方法的有效性.
- 迭代学习控制 /
- 初值问题 /
- 非参数不确定性 /
- 障碍Lyapunov函数
Abstract: This paper presents a reference-signal rectifying method of iterative learning control to address the trajectory-tracking problem for a class of state-constrained uncertain systems, in the presence of arbitrary initial states. For design of the iterative learning control scheme, a rectified reference signal is constructed and a new type of barrier Lyapunov function is used. In order to deal with the nonparametric uncertainties, a robust learning approach is applied. It is shown that the closed-loop system's state follows the rectified reference signal perfectly over the entire time interval as iteration increases. In turn, the system state tracks the reference signal on the specified interval. During each iteration, the filtering-error is constrained in the pre-specified region, and the system state is thus constrained. Numerical results are presented to demonstrate the effectiveness of the learning control scheme.
- Iterative learning control /
- initial condition problem /
- nonparametric uncertainties /
- barrier Lyapunov function
注释:

1) 本文责任编委王聪

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图 1 $x_1$ 及其期望轨迹 $x_{1d}$

Fig. 1 $x_1$ and its desired trajectory $x_{1d}$

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图 2 $x_2$ 及其期望轨迹 $x_{2d}$

Fig. 2 $x_2$ and its desired trajectory $x_{2d}$

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图 3 误差 $e_1$ 和 $e_2$

Fig. 3 The errors $e_1$ and $e_2$

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图 4 修正误差 $e_1^*$

Fig. 4 The rectified error $e_1^*$

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图 5 修正误差 $e_2^*$

Fig. 5 The rectified error $e_2^*$

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图 6 控制输入

Fig. 6 Control input

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图 7 状态受限情形下 $J_{ k}$ 的收敛过程

Fig. 7 The history of $J_{ k}$ in the case of constraint

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图 8 $J_{ k}$ 收敛过程

Fig. 8 The history of $J_{ k}$

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迭代学习控制的参考信号初始修正方法

doi: 10.16383/j.aas.2017.c160292

作者简介:
严求真浙江水利水电学院信息工程学院讲师.主要研究方向为学习控制.E-mail:zjyqz@126.com

蔡建平浙江水利水电学院应用数学研究所副教授.主要研究方向为自适应控制.E-mail:caijp@zjweu.edu.cn

通讯作者:
孙明轩浙江工业大学信息工程学院教授.主要研究方向为学习控制.本文通信作者.E-mail:mxsun@zjut.edu.cn

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Reference-signal Rectifying Method of Iterative Learning Control

Corresponding author: SUN Ming-Xuan Professor at the College of Information Engineering, Zhejiang University of Technology. His main research interest is learning control. Corresponding author of this paper

计量

目录

留言板

迭代学习控制的参考信号初始修正方法

doi: 10.16383/j.aas.2017.c160292

作者简介: 严求真 浙江水利水电学院信息工程学院讲师.主要研究方向为学习控制.E-mail:zjyqz@126.com 蔡建平 浙江水利水电学院应用数学研究所副教授.主要研究方向为自适应控制.E-mail:caijp@zjweu.edu.cn

通讯作者: 孙明轩 浙江工业大学信息工程学院教授.主要研究方向为学习控制.本文通信作者.E-mail:mxsun@zjut.edu.cn

计量

出版历程

Reference-signal Rectifying Method of Iterative Learning Control

Corresponding author: SUN Ming-Xuan Professor at the College of Information Engineering, Zhejiang University of Technology. His main research interest is learning control. Corresponding author of this paper

计量

出版历程

目录

作者简介:
严求真浙江水利水电学院信息工程学院讲师.主要研究方向为学习控制.E-mail:zjyqz@126.com

蔡建平浙江水利水电学院应用数学研究所副教授.主要研究方向为自适应控制.E-mail:caijp@zjweu.edu.cn

通讯作者:
孙明轩浙江工业大学信息工程学院教授.主要研究方向为学习控制.本文通信作者.E-mail:mxsun@zjut.edu.cn