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抑制初态误差影响的自适应迭代学习控制

吕庆

吕庆. 抑制初态误差影响的自适应迭代学习控制. 自动化学报, 2015, 41(7): 1365-1372. doi: 10.16383/j.aas.2015.c140670
引用本文: 吕庆. 抑制初态误差影响的自适应迭代学习控制. 自动化学报, 2015, 41(7): 1365-1372. doi: 10.16383/j.aas.2015.c140670
LV Qing. Adaptive Iterative Learning Control for Inhibition Effect of Initial State Random Error. ACTA AUTOMATICA SINICA, 2015, 41(7): 1365-1372. doi: 10.16383/j.aas.2015.c140670
Citation: LV Qing. Adaptive Iterative Learning Control for Inhibition Effect of Initial State Random Error. ACTA AUTOMATICA SINICA, 2015, 41(7): 1365-1372. doi: 10.16383/j.aas.2015.c140670

抑制初态误差影响的自适应迭代学习控制

doi: 10.16383/j.aas.2015.c140670
详细信息
    作者简介:

    吕庆天津师范大学计算机与信息工程学院讲师. 2014 年于南开大学获得博士学位. 主要研究方向为迭代学习控制.E-mail: jsjlvqing@mail.tjnu.edu.cn

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

  • 摘要: 针对一类参数化高阶不确定非线性连续系统, 设计迭代学习控制算法, 以解决随机初态对系统跟踪性能产生负面影响的问题. 结合滑模控制思想以及部分限幅参数学习律, 控制算法在预设时间段内抑制随机初态偏差对系统跟踪性能的影响. 经过预设时间后, 随着迭代次数的增加, 系统的跟踪误差及其各阶导数一致收敛到零. 且在整个运行时间段内, 系统各个变量一致有界. 此外, 本文回避了非参数化不确定非线性系统在放宽迭代初值假设时常使用的Lipschitz假设条件, 而采用类Lyapunov函数分析法设计迭代学习控制器. 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:  2014-09-17
  • 修回日期:  2015-01-24
  • 刊出日期:  2015-07-20

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