高阶P型学习控制的鲁棒性

Robustness of Higher-Order P-Type Learning Control

中文关键词  迭代学习控制  鲁棒性  初始条件  非线性系统

英文关键词  iterative learning control  robustness  initial condition nonlinear systems

中文摘要

      通过线性化处理，本文将开闭环配合的高阶P型迭代学习控制律的适用范围推广到更一般的非线性动态系统。对于UBB初始条件和周期干扰，以及渐进重复初始条件和干扰的情形，文中分别证明了学习过程的渐进有界和一致收剑性。仿真结果表明了这类控制器的鲁棒性能。

英文摘要

      A feedback-assisted iterative learning control scheme for general nonlinear systems is proposed.With the aid of linearization along the desired trajectories,the asymptotic boundedness of the control process is proved in the presence of reinitialization errors and state and output periodic disturbances. the uniform convergence of the output error is given under asymptotically repetitive intitial conditions and disturabance constraints. A simulation example is presented to demonstrate the robustness performance of the proposed learning controller.