| 引用本文: | 严求真,柳向斌,朱胜,蔡建平.非参数不确定系统的双周期重复控制[J].控制理论与应用,2018,35(9):1311~1319.[点击复制] |
| YAN Qiu-zhen,LIU Xiang-bin,ZHU Sheng,CAI Jian-ping.Dual-period repetitive control for nonparametric uncertain systems[J].Control Theory and Technology,2018,35(9):1311~1319.[点击复制] |
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| 非参数不确定系统的双周期重复控制 |
| Dual-period repetitive control for nonparametric uncertain systems |
| 摘要点击 2779 全文点击 1442 投稿时间：2017-07-16 修订日期：2018-04-08 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2018.70479 |
| 2018,35(9):1311-1319 |
| 中文关键词 重复控制 多周期学习控制 Lyapunov方法 非参数不确定性 |
| 英文关键词 repetitive control multi-period learning control Lyapunov approach nonparametric uncertainties |
| 基金项目 国家自然科学基金( 61573322, 61673050), 浙江省公益技术应用研究项目(2016C32093, 2017C33155), 浙江省教育厅科研项目(Y201635861)资助 |
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| 中文摘要 |
| 针对一类扰动周期与参考信号周期之间无公共倍数的非参数不确定系统, 为实现对参考信号的跟踪, 本文
提出一种双周期重复控制方法. 基于Lyapunov方法设计控制器, 结合鲁棒方法与双周期重复学习方法处理非参数
不确定项与周期性扰动, 利用无限幅学习方法估计时变参数. 本文给出了闭环系统中无限幅学习量有界的数学证
明, 其结果优于多数现有文献中的L2意义下有界. 经过足够多个周期的重复运行后, 可实现系统输出在整个重复周
期上无误差跟踪参考信号. 最后, 通过仿真示例表明了所提控制方法的有效性. |
| 英文摘要 |
| In this work, we present a dual-periodic repetitive control scheme that deals with periodic tracking tasks for
a class of nonparametric uncertain systems, with no common multiple between the period of the disturbance and that of
the reference signal. The learning controller is designed based on the Lyapunov synthesis, compensating nonparametric
uncertainties and the periodic disturbance by both robust mechanism and dual-period repetitive learning mechanism. The
unlimited learning strategy is applied to estimate time-varying parameters. Through rigorous analysis, we prove that the estimations themselves are bounded, indicating an improvement on the mere boundedness of L2-meaning from most existing
works. As the repetitive cycle increases, the system output can track its reference signal perfectly over its full period. In the
end, an illustrative example is provided to demonstrate the efficacy of the proposed dual-period repetitive control scheme. |
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