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齿隙非线性输入系统的迭代学习控制

朱胜 孙明轩 何熊熊

朱胜, 孙明轩, 何熊熊. 齿隙非线性输入系统的迭代学习控制. 自动化学报, 2011, 37(8): 1014-1017. doi: 10.3724/SP.J.1004.2011.01014
引用本文: 朱胜, 孙明轩, 何熊熊. 齿隙非线性输入系统的迭代学习控制. 自动化学报, 2011, 37(8): 1014-1017. doi: 10.3724/SP.J.1004.2011.01014
ZHU Sheng, SUN Ming-Xuan, HE Xiong-Xiong. Iterative Learning Control of a Class of Nonlinear Systems with Input Backlash. ACTA AUTOMATICA SINICA, 2011, 37(8): 1014-1017. doi: 10.3724/SP.J.1004.2011.01014
Citation: ZHU Sheng, SUN Ming-Xuan, HE Xiong-Xiong. Iterative Learning Control of a Class of Nonlinear Systems with Input Backlash. ACTA AUTOMATICA SINICA, 2011, 37(8): 1014-1017. doi: 10.3724/SP.J.1004.2011.01014

齿隙非线性输入系统的迭代学习控制

doi: 10.3724/SP.J.1004.2011.01014
详细信息
    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

Iterative Learning Control of a Class of Nonlinear Systems with Input Backlash

  • 摘要: 针对一类具有输入齿隙特性的非线性系统, 提出一种实现有限作业区间轨迹跟踪的迭代学习控制方法. 在系统不确定项可参数化的情形下, 基于类Lyapunov方法设计迭代学习控制器, 回避了常规迭代学习控制中受控系统非线性特性需满足全局Lipschitz连续条件的要求. 对未知时变参数进行泰勒级数展开, 参数估计采用微分学习律, 并在控制器设计中, 采用双曲函数处理级数展开后的余项以及齿隙特性里的有界误差项, 以保证控制器可导, 且可抑制颤振. 引入一级数收敛序列确保系统输出完全跟踪期望轨迹, 且闭环系统所有信号有界.
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出版历程
  • 收稿日期:  2010-12-20
  • 修回日期:  2011-03-09
  • 刊出日期:  2011-08-20

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