| 引用本文: | 金奎,孙明轩.控制方向未知非线性系统的自适应重复控制[J].控制理论与应用,2012,29(9):1176~1180.[点击复制] |
| JIN Kui,SUN Ming-xuan.Adaptive repetitive control for a class of nonlinear systems with unknown control direction[J].Control Theory and Technology,2012,29(9):1176~1180.[点击复制] |
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| 控制方向未知非线性系统的自适应重复控制 |
| Adaptive repetitive control for a class of nonlinear systems with unknown control direction |
| 摘要点击 2785 全文点击 2469 投稿时间：2011-03-03 修订日期：2012-03-22 |
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| DOI编号 10.7641/j.issn.1000-8152.2012.9.CCTA110204 |
| 2012,29(9):1176-1180 |
| 中文关键词 Nussbaum函数 非参数不确定性 控制方向 自适应重复控制 |
| 英文关键词 Nussbaum function non-parametric uncertainties control direction adaptive repetitive control |
| 基金项目 国家自然科学基金资助项目(60874041, 61174034). |
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| 中文摘要 |
| 针对控制方向未知的、存在周期性非参数不确定性的一类非线性系统, 给出零误差跟踪的重复控制方法. 引入Nussbaum函数设计自适应重复控制器, 参数估计修正律采用完全饱和形式, 将参数估计囿于预先给定的范围内. 分析表明, 闭环系统中所有信号本身有界, 且跟踪误差本身趋于零. 数值仿真结果验证了算法的有效性. |
| 英文摘要 |
| We present an adaptive repetitive control for a class of nonlinear systems with periodic nonparametric uncertainties and unknown control direction. This repetitive controller is designed with the aid of Nussbaum function; and the saturation mechanism adopted in the learning algorithm confines the estimated parameters to a pre-determined region. The proposed control method guarantees that all the signals in the closed-loop are bounded and the tracking error converges to zero as time approaches infinity. Numerical simulations are carried out to demonstrate the effectiveness of the presented control scheme. |