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非线性不确定系统准最优学习控制

严求真 孙明轩

严求真, 孙明轩. 非线性不确定系统准最优学习控制. 自动化学报, 2015, 41(9): 1659-1668. doi: 10.16383/j.aas.2015.c140781
引用本文: 严求真, 孙明轩. 非线性不确定系统准最优学习控制. 自动化学报, 2015, 41(9): 1659-1668. doi: 10.16383/j.aas.2015.c140781
YAN Qiu-Zhen, SUN Ming-Xuan. Suboptimal Learning Control for Nonlinear Systems with Both Parametric and Nonparametric Uncertainties. ACTA AUTOMATICA SINICA, 2015, 41(9): 1659-1668. doi: 10.16383/j.aas.2015.c140781
Citation: YAN Qiu-Zhen, SUN Ming-Xuan. Suboptimal Learning Control for Nonlinear Systems with Both Parametric and Nonparametric Uncertainties. ACTA AUTOMATICA SINICA, 2015, 41(9): 1659-1668. doi: 10.16383/j.aas.2015.c140781

非线性不确定系统准最优学习控制

doi: 10.16383/j.aas.2015.c140781
基金项目: 

国家自然科学基金(60874041,61174034,61374103),浙江省高等学校访问学者专业发展项目(FX2013206)资助

详细信息
    作者简介:

    严求真 浙江工业大学信息工程学院博士研究生.主要研究方向为学习控制.E-mail:zjyqz@126.com

    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

Suboptimal Learning Control for Nonlinear Systems with Both Parametric and Nonparametric Uncertainties

Funds: 

Supported by National Natural Science Foundation of China (60874041, 61174034, 61374103) and University Visiting Scholars Developing Project of Zhejiang Province (FX2013206)

  • 摘要: 针对不确定非线性系统, 提出准最优学习控制方法, 解决参数与非参数不确定特性同时存在情形下的轨迹跟踪问题. 给出迭代学习与重复学习两种控制策略, 根据Sontag公式解决标称系统的优化控制, 并以鲁棒学习手段处理参数与非参数不确定特性. 提出断续函数连续化方案, 以避免传统Sontag公式在实现时可能存在的颤振问题. 分析证明经过足够多次迭代或足够多个周期的重复运行后, 闭环系统可实现系统状态以预设精度跟踪参考信号. 仿真结果表明所设计学习系统在收敛速度 方面快于非优化设计.
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出版历程
  • 收稿日期:  2014-11-13
  • 修回日期:  2015-03-03
  • 刊出日期:  2015-09-20

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