| 引用本文: | 孟亭亭,张一鹏,张爽.基于自适应迭代学习控制的柔性翼鲁棒输出调节[J].控制理论与应用,2025,42(3):482~490.[点击复制] |
| MENG Ting-ting,ZHANG Yi-Peng,ZHANG Shuang.Adaptive iterative learning control for the robust output regulation of a flexible wing system[J].Control Theory and Technology,2025,42(3):482~490.[点击复制] |
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| 基于自适应迭代学习控制的柔性翼鲁棒输出调节 |
| Adaptive iterative learning control for the robust output regulation of a flexible wing system |
| 摘要点击 38 全文点击 2 投稿时间：2023-03-09 修订日期：2024-10-11 |
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| DOI编号 10.7641/CTA.2023.30118 |
| 2025,42(3):482-490 |
| 中文关键词 鲁棒控制 柔性翼 自适应控制系统 迭代方法 输出调节 |
| 英文关键词 robust control flexible wings adaptive control systems iterative methods output regulation |
| 基金项目 国家自然科学基金项目(U22A2060, 62273037, 62103038), 国家重点研发计划(2023YFB4706400), 雄安新区科技创新专项项目(2023XAGG0062), 广东省基础与应用基础研究基金面上项目(2022A1515010039)资助. |
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| 中文摘要 |
| 由于柔性翼为扑翼机器人提供气动外力和力矩,因此,柔性翼的鲁棒输出调节对机器人的机动性和续航能力具有重要意义.本文以分布参数系统描述的柔性翼为研究对象,阐述了两种自适应迭代学习控制,来处理未知周期干扰,并保证弯曲位移和扭转位移跟踪时变轨迹,此时假设干扰和参考轨迹都可以由外系统产生.当外系统矩阵已知时,在迭代域内设计的自适应律只需要估测未知的干扰系数,并进一步得到了基于跟踪误差信号的自适应迭代学习控制.当外系统矩阵未知时,自适应律需要估测时变的周期函数,进一步得到了第2类自适应控制.以上两种输出调节问题也可以通过基于内模原理的鲁棒控制实现,因此,本文给出了所设计的自适应迭代学习控制与基于内模原理的鲁棒控制的区别.基于Lyapunov方法,本文证明跟踪误差在迭代域内的收敛性,以及闭环系统状态的有界性.本文通过两组数值仿真例子进一步验证了两类自适应迭代控制对鲁棒输出调节的有效性. |
| 英文摘要 |
| Flexible wings are used to generate external aerodynamic forces and moments for flapping wing robots, and the robust output regulation of the wings is thus of great significance to the maneuverability and endurance. For the flexible wing described by a distributed parameter system, two adaptive iterative learning controls (ILCs) are proposed to address the unknown periodic disturbances and guarantee that the bending displacement and twisting displacement track references. In this paper, both unknown disturbances and reference trajectories are supposed to be generated by an exosystem. When the matrix of exosystem is known, the adaption laws are designed to estimate the unknown coefficients of disturbances which gives the first adaptive ILCs. For the unknown matrix, the adaption laws need to estimate the time-varying periodic functions, and then the second adaptive control is obtained. Since both cases can be addressed by the internal model control, the differences from the adaptive ILCs are further explained in this paper. Based on Lyapunov’s method, the convergence of tracking error is proved in the iterative domain, as well as the boundedness of closed-loop system. There are two sets of simulation examples to verify the effectiveness of two adaptive ILCs. |
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