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具有迭代初始误差的高相对度线性离散系统的迭代学习控制 被引量：6

Iterative learning control for linear discrete systems with high relative degree and iterative initial error
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摘要 本文针对具有迭代初始误差的高相对度线性多变量离散系统,提出了一种P型的迭代学习控制算法.通过将迭代学习控制系统的二维运动过程描述为一维的线性离散系统,证明了该迭代学习控制算法的收敛性及其收敛的充要条件.该迭代学习控制算法通过对系统前次重复运动过程中的输入和跟踪误差信号进行学习,来不断地调整输入量,使得系统在经过一定次数的学习以后,在初始时间点以外的实际输出趋于期望输出.数值仿真结果表明了所提出算法的有效性. This paper presents a P-type iterative learning control algorithm for linear multi-variable discrete systems with high relative degree and iterative initial errors.The convergence of the proposed iterative learning control algorithm with necessary and sufficient condition is proved by converting the two-dimensional iterative learning control process into a one-dimensional linear discrete system.The proposed iterative learning control method updates the control input iteratively by a learning mechanism using the information of errors and inputs in the preceding trials such that the tracking performance of the system outputs beyond the initial time point is improved.A numerical example is used to illustrate the effectiveness of the proposed iterative learning control technique.
作者 毛祖永 李晓东
机构地区 中山大学信息科学与技术学院 智能传感器网络教育部重点实验室
出处 《控制理论与应用》 EI CAS CSCD 北大核心 2012年第8期1078-1081,共4页 Control Theory & Applications
基金 国家自然科学基金资助项目(60874115)
关键词 迭代学习控制 线性离散系统 相对度 充要条件 iterative learning control linear discrete systems relative degree necessary and sufficient condition
分类号 TP13 [自动化与计算机技术—控制理论与控制工程]
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参考文献10

  • 1CUGLIARI M, MARINO R, TOMEI P, et al. Global learning con- trols for uncertain relative degree one linear systems: a compatative study [C] //American Control Conference. New York: IEEE, 2009: 1628 - 1633.
  • 2LI Xiaodong, CHOW Tommy W S , HO John K L, et al. Iterative learning control with initial rectifying action for nonlinear continu- ous systems [J]. lET Control Theory and Applications, 2009, 3(1): 49 - 55.
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同被引文献51

  • 1肖阳,朱芳来.非正则线性系统闭环P型迭代学习控制算法[J].桂林电子工业学院学报,2006,26(3):191-194. 被引量：2
  • 2Zhang Baolin,Tang Gongyou,Zheng Shi.PD-type iterative learning control for nonlinear time-delay system with external disturbance[J].Journal of Systems Engineering and Electronics,2006,17(3):600-605. 被引量：12
  • 3HOU Zhong-Sheng,XU Jian-Xin.A New Feedback-feedforward Configuration for the Iterative Learning Control of a Class of Discrete-time Systems[J].自动化学报,2007,33(3):323-326. 被引量：9
  • 4Arimoto S, Kawamura S, Miyazaki F. Bettering operation of bobotics by learning [ J ]. Journal of Robotic Systems, 1984,1 (1) :123-140.
  • 5Bristow D A, Tharayil M, Alleyne A G. A survey of itera-tive learning control: a learning-based method for high- performance tracking control [ J ]. IEEE Control Systems Magazine ,2006,26( 3 ) :96-114.
  • 6Ahn H S, Chen Y Q, Moore K L. Iterative learning con- trol:brief survey and categorization [ J ]. IEEE Transac- tions on Systems, Man, and Cybernetics, Part C : Applica- tions and Reviews ,2007,37 ( 6 ) : 1099-1121.
  • 7Li X D, Chow Tommy W S, Ho John K L, et al. herative learning control with initial rectifying action for nonlinear continuous systems [ J]. IET Control Theory and Applica- tions ,2009,3 ( 1 ) :49-54.
  • 8Xu J X. A survey on iterative learning control nonlinear systems [ J ]. International Journal of Control, 2011, 84 (7) : 1275-1294.
  • 9Tian Sen-ping, Xie Sheng-li, Fu Yu-li. Fast algorithm of iterative learning control [ J ]. Journal of South China University of Technology : Natural Science Edition, 2002, 30(5) :37-40.
  • 10Tayebi A, Zaremba M B. Exponential convergence of an iterative learning controller for time-varying nonlinear systems [ C] ffProceedings of the 38th Conference on De- cision and Control. Phoenix : IEEE, 1999 : 1593-1598.

引证文献6

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控制理论与应用
2012年 第8期

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