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非线性时变参数不确定系统的自适应迭代学习控制
引用本文:池荣虎,隋树林,侯忠生.非线性时变参数不确定系统的自适应迭代学习控制[J].自动化学报,2008,34(7):805-808.
作者姓名:池荣虎  隋树林  侯忠生
作者单位:1.Institute of Autonomous Navigation and Intelligent Control, School of Automation and Electrical Engineering, Qingdao University of Science and Technology, Qingdao 266042, P.R. China
基金项目:国家自然科学基金 , 青岛科技大学校科研和教改项目
摘    要:利用离散时间轴与迭代轴之间的相似性, 提出了一种新的离散时间自适应迭代学习控制 (AILC) 方法来处理带有时变参数不确定性的非线性系统. 与自适应控制相类似, 所提出的 AILC 是基于投影算法的, 因此学习增益可以沿学习轴迭代地调节. 在随机初始状态和参考轨迹迭代变化的条件下, 所提出的 AILC 仍可沿迭代学习轴渐近地实现有限时间区间上的逐点收敛性.

关 键 词:迭代学习控制(ILC)    自适应控制    时变参数    非相同初始条件    非相同参考轨迹
收稿时间:2007-5-16
修稿时间:2007-10-13

A New Discrete-time Adaptive ILC for Nonlinear Systems with Time-varying Parametric Uncertainties
CHI Rong-Hu,SUI Shu-Lin,HOU Zhong-Sheng.A New Discrete-time Adaptive ILC for Nonlinear Systems with Time-varying Parametric Uncertainties[J].Acta Automatica Sinica,2008,34(7):805-808.
Authors:CHI Rong-Hu  SUI Shu-Lin  HOU Zhong-Sheng
Affiliation:1.Institute of Autonomous Navigation and Intelligent Control, School of Automation and Electrical Engineering, Qingdao University of Science and Technology, Qingdao 266042, P.R. China;2.Advanced Control Systems Laboratory, School of Electronics and Information Engineering, Beijing Jiaotong University, Beijing 100044, P.R. China
Abstract:Using the analogy between the discrete time axis and the iterative learning axis,a new discrete-time adaptive iter- ative learning control (AILC) approach is developed to address a class of nonlinear systems with time-varying parametric un- certainties.Analogous to adaptive control,the new AILC can incorporate a projection algorithm,thus the learning gain can be tuned iteratively along the learning axis.When the initial states are random and the reference trajectory is iteration-varying,the new AILC can achieve the pointwise convergence over a finite time interval asymptotically along the iterative learning axis.
Keywords:Iterative learning control (ILC)  adaptive control  time-varying parameters  non-identical initial condition  nonidentical trajectory
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