| 引用本文: | 李俊民, 孙云平, 刘赟.非一致目标跟踪的混合自适应迭代学习控制[J].控制理论与应用,2008,25(1):100~104.[点击复制] |
| LI Jun-min, SUN Yun-ping, LIU Yun.Hybrid adaptive iterative learning control of non-uniform trajectory tracking[J].Control Theory and Technology,2008,25(1):100~104.[点击复制] |
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| 非一致目标跟踪的混合自适应迭代学习控制 |
| Hybrid adaptive iterative learning control of non-uniform trajectory tracking |
| 摘要点击 2994 全文点击 1661 投稿时间：2005-07-07 修订日期：2007-04-25 |
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| DOI编号 10.7641/j.issn.1000-8152.2008.1.018 |
| 2008,25(1):100-104 |
| 中文关键词 自适应迭代学习控制 Backstepping 非一致目标跟踪 混合型的参数非线性系统 复合能量函数 |
| 英文关键词 adaptive iterative learning control Backstepping non-uniform trajectory tracking hybrid parametric nonlinear systems composite energy function |
| 基金项目 国家自然科学基金资助项目(60374015). |
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| 中文摘要 |
| 针对一类含有时变和时不变参数的高阶非线性系统, 结合Backstepping方法, 提出了一种新的自适应迭代学习控制方法, 该方法由微分-差分型自适应率和学习控制率组成, 保证对非一致目标的跟踪误差平方在一个有限区间上的积分渐近收敛于零, 克服了传统的迭代学习控制(ILC)对目标轨线限制, 可以跟踪非一致目标轨线. 通过构造复合能量函数, 给出了闭环系统收敛的一个充分条件, 仿真结果说明了该方法的有效性和可行性. |
| 英文摘要 |
| A novel adaptive iterative learning control approach is proposed for a class of hybrid parametric nonlinear systems by means of Backstepping method. The approach consists of a differential-deference type updating law and a learning control law for handling the non-uniform trajectory tracking problem. It avoids the restrictions on the tracking trajectory in the traditional ILC. A sufficient condition for tracking error to converge to zero in the mean-square sense on the finite interval is also given by constructing a novel composite energy function. A simulation example shows the feasibility and effectiveness of the approach. |