The classical D-type iterative learning control law depends crucially on the relative degreeof the controlled system, high order di?erential iterative learning law must be taken for systems withhigh order relative deg...The classical D-type iterative learning control law depends crucially on the relative degreeof the controlled system, high order di?erential iterative learning law must be taken for systems withhigh order relative degree. It is very di?cult to ascertain the relative degree of the controlled systemfor uncertain nonlinear systems. A first-order D-type iterative learning control design method ispresented for a class of nonlinear systems with unknown relative degree based on dummy model inthis paper. A dummy model with relative degree 1 is constructed for a class of nonlinear systemswith unknown relative degree. A first-order D-type iterative learning control law is designed basedon the dummy model, so that the dummy model can track the desired trajectory perfectly, and thecontrolled system can track the desired trajectory within a certain error. The simulation exampledemonstrates the feasibility and e?ectiveness of the presented method.展开更多
For regulating the dynamic nonholonomic mobile cart with parameter uncertainties, a time-varying robust control law is derived to yield globally exponential convergence of cart's position and orientation to the de...For regulating the dynamic nonholonomic mobile cart with parameter uncertainties, a time-varying robust control law is derived to yield globally exponential convergence of cart's position and orientation to the desired set point. The controller design relies on converting the cart's dynamics to an advantageous form, and the robust linear feedback control laws steer the cart's position and orientation errors to zero exponentially. Simulation results show the effectiveness of the proposed control law.展开更多
Some new linear matrix inequality (LMI) representations for delay-independent and delay-dependent stability conditions are obtained by introducing additional matrices and eliminating the product coupling of the system...Some new linear matrix inequality (LMI) representations for delay-independent and delay-dependent stability conditions are obtained by introducing additional matrices and eliminating the product coupling of the system matrices and the Lya-punov matrices. The results improve conservativeness of the given conditions for the analysis and the design of tune-delay systems with polytopic-type uncertainty.展开更多
In this paper, by applying a group of specific orthogonal wavelet packet to Eykho?algorithm, a new impulse response identification algorithm based on varying scale orthogonal WPTis provided. In comparison to Eykho? al...In this paper, by applying a group of specific orthogonal wavelet packet to Eykho?algorithm, a new impulse response identification algorithm based on varying scale orthogonal WPTis provided. In comparison to Eykho? algorithm, the new algorithm has better practicability andwider application range. Simulation results show that the proposed impulse response identificationalgorithm can be applied to both deterministic and random systems, and is of higher identificationprecision, stronger anti-noise interference ability and better system dynamic tracking property.展开更多
文摘The classical D-type iterative learning control law depends crucially on the relative degreeof the controlled system, high order di?erential iterative learning law must be taken for systems withhigh order relative degree. It is very di?cult to ascertain the relative degree of the controlled systemfor uncertain nonlinear systems. A first-order D-type iterative learning control design method ispresented for a class of nonlinear systems with unknown relative degree based on dummy model inthis paper. A dummy model with relative degree 1 is constructed for a class of nonlinear systemswith unknown relative degree. A first-order D-type iterative learning control law is designed basedon the dummy model, so that the dummy model can track the desired trajectory perfectly, and thecontrolled system can track the desired trajectory within a certain error. The simulation exampledemonstrates the feasibility and e?ectiveness of the presented method.
基金Supported by National Natural Science Foundation of P. R. China (60274005, 60334030)
文摘For regulating the dynamic nonholonomic mobile cart with parameter uncertainties, a time-varying robust control law is derived to yield globally exponential convergence of cart's position and orientation to the desired set point. The controller design relies on converting the cart's dynamics to an advantageous form, and the robust linear feedback control laws steer the cart's position and orientation errors to zero exponentially. Simulation results show the effectiveness of the proposed control law.
文摘Some new linear matrix inequality (LMI) representations for delay-independent and delay-dependent stability conditions are obtained by introducing additional matrices and eliminating the product coupling of the system matrices and the Lya-punov matrices. The results improve conservativeness of the given conditions for the analysis and the design of tune-delay systems with polytopic-type uncertainty.
文摘In this paper, by applying a group of specific orthogonal wavelet packet to Eykho?algorithm, a new impulse response identification algorithm based on varying scale orthogonal WPTis provided. In comparison to Eykho? algorithm, the new algorithm has better practicability andwider application range. Simulation results show that the proposed impulse response identificationalgorithm can be applied to both deterministic and random systems, and is of higher identificationprecision, stronger anti-noise interference ability and better system dynamic tracking property.
