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未知相对度非线性系统的一阶D型迭代学习控制

宋召青 毛剑琴 戴邵武

宋召青, 毛剑琴, 戴邵武. 未知相对度非线性系统的一阶D型迭代学习控制. 自动化学报, 2005, 31(4): 555-561.
引用本文: 宋召青, 毛剑琴, 戴邵武. 未知相对度非线性系统的一阶D型迭代学习控制. 自动化学报, 2005, 31(4): 555-561.
SONG Zhao-Qing, MAO Jian-Qin, DAI Shao-Wu. First-order D-type Iterative Learning Control for Nonlinear Systems with Unknown Relative Degree. ACTA AUTOMATICA SINICA, 2005, 31(4): 555-561.
Citation: SONG Zhao-Qing, MAO Jian-Qin, DAI Shao-Wu. First-order D-type Iterative Learning Control for Nonlinear Systems with Unknown Relative Degree. ACTA AUTOMATICA SINICA, 2005, 31(4): 555-561.

未知相对度非线性系统的一阶D型迭代学习控制

详细信息
    通讯作者:

    宋召青

First-order D-type Iterative Learning Control for Nonlinear Systems with Unknown Relative Degree

More Information
    Corresponding author: SONG Zhao-Qing
  • 摘要: The classical D-type iterative learning control law depends crucially on the relative degree of the controlled system, high order differential iterative learning law must be taken for systems with high order relative degree. It is very difficult to ascertain the relative degree of the controlled system for uncertain nonlinear systems. A first-order D-type iterative learning control design method is presented for a class of nonlinear systems with unknown relative degree based on dummy model in this paper. A dummy model with relative degree 1 is constructed for a class of nonlinear systems with unknown relative degree. A first-order D-type iterative learning control law is designed based on the dummy model, so that the dummy model can track the desired trajectory perfectly, and the controlled system can track the desired trajectory within a certain error. The simulation example demonstrates the feasibility and effectiveness of the presented method.
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出版历程
  • 收稿日期:  2004-01-08
  • 修回日期:  2004-12-28
  • 刊出日期:  2005-07-20

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