Robust iterative learning control for nonlinear systems with measurement disturbances 被引量：6

Robust iterative learning control for nonlinear systems with measurement disturbances

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摘要 The iterative learning control （ILC） has been demon-strated to be capable of considerably improving the tracking perfor-mance of systems which are affected by the iteration-independent disturbance. However, the achievable performance is greatly degraded when iteration-dependent, stochastic disturbances are pre-sented. This paper considers the robustness of the ILC algorithm for the nonlinear system in presence of stochastic measurement disturbances. The robust convergence of the P-type ILC algorithm is firstly addressed, and then an improved ILC algorithm with a decreasing gain is proposed. Theoretical analyses show that the proposed algorithm can guarantee that the tracking error of the nonlinear system tends to zero in presence of measurement dis-turbances. The analysis is also supported by a numerical example. The iterative learning control （ILC） has been demon-strated to be capable of considerably improving the tracking perfor-mance of systems which are affected by the iteration-independent disturbance. However, the achievable performance is greatly degraded when iteration-dependent, stochastic disturbances are pre-sented. This paper considers the robustness of the ILC algorithm for the nonlinear system in presence of stochastic measurement disturbances. The robust convergence of the P-type ILC algorithm is firstly addressed, and then an improved ILC algorithm with a decreasing gain is proposed. Theoretical analyses show that the proposed algorithm can guarantee that the tracking error of the nonlinear system tends to zero in presence of measurement dis-turbances. The analysis is also supported by a numerical example.

作者 Xuhui BuI FashanYu Zhongsheng Hou Haizhu Yang

机构地区 School of Electrical Engineering & Automation Henan Provincial Open Laboratory for Control Engineering Key Discipline Advanced Control Systems Laboratory

出处《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2012年第6期906-913,共8页 系统工程与电子技术（英文版）

基金 supported by the National Natural Science Foundation of China (61203065 60834001) the Program of Open Laboratory Foundation of Control Engineering Key Discipline of Henan Provincial High Education (KG 2011-10)

关键词 iterative learning control （ILC） nonlinear system mea-surement disturbance iteration-varying disturbance. iterative learning control （ILC）, nonlinear system, mea-surement disturbance, iteration-varying disturbance.

分类号 TP273.22 [自动化与计算机技术—检测技术与自动化装置] TP271 [自动化与计算机技术—检测技术与自动化装置]

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参考文献2

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