非参数不确定系统状态受限误差跟踪学习控制方法

Error-tracking iterative learning control with state constrained for nonparametric uncertain systems

中文关键词  迭代学习控制  状态约束  初值问题  非参数不确定性

英文关键词  iterative learning control  constrained state  initial condition problem  nonparametric uncertainties

中文摘要

      针对一类非参数不确定系统, 提出误差跟踪学习控制方法, 同时解决学习控制系统的初值问题 和状态约束问题. 利用障碍Lyapunov函数设计控制器, 采用鲁棒方法与学习方法相结合的策略处理 非参数不确定性, 将滤波误差约束于预设的界内, 并由此实现对系统状态在各次迭代运行过 程中的约束. 文中构造了一种期望误差轨迹, 经过足够多次迭代后, 所提控制方法使得系 统误差在整个作业区间以预设精度跟踪期望误差轨迹, 系统状态在部分作业区间精确跟踪 参考信号. 仿真结果表明了该控制方案的有效性.

英文摘要

      We present an error-tracking iterative learning control method for a class of nonparametric uncertain systems to tackle simultaneously both the initial condition problem and the state-constrained problem. The learning controller is designed by using the barrier Lyapunov function, and the robust learning approach is applied to deal with the nonparametric uncertainties, by which the filtered error is constrained in a pre-specified region, with the system states being constrained. A kind of desired error trajectory is constructed in this paper. It is shown that as the number of iterations increases, the tracking error of the closed-loop system follows the desired error trajectory with the pre-specified accuracy over the entire time interval, and the system states track the reference signal perfectly on the specified interval. Numerical results are presented to demonstrate the effectiveness of the learning control scheme.