| 非线性不确定系统准最优学习控制 |
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| 引用本文： | 严求真,孙明轩.非线性不确定系统准最优学习控制[J].自动化学报,2015,41(9):1659-1668. |
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| 作者姓名： | 严求真 孙明轩 |
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| 作者单位： | 1.浙江工业大学信息工程学院 杭州 310023; |
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| 基金项目： | 国家自然科学基金(60874041,61174034,61374103),浙江省高等学校访问学者专业发展项目(FX2013206)资助 |
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| 摘 要： | 针对不确定非线性系统, 提出准最优学习控制方法, 解决参数与非参数不确定特性同时存在情形下的轨迹跟踪问题. 给出迭代学习与重复学习两种控制策略, 根据Sontag公式解决标称系统的优化控制, 并以鲁棒学习手段处理参数与非参数不确定特性. 提出断续函数连续化方案, 以避免传统Sontag公式在实现时可能存在的颤振问题. 分析证明经过足够多次迭代或足够多个周期的重复运行后, 闭环系统可实现系统状态以预设精度跟踪参考信号. 仿真结果表明所设计学习系统在收敛速度 方面快于非优化设计.
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| 关 键 词： | 准最优非线性控制 学习控制 参数化 非参数不确定性 |
| 收稿时间： | 2014-11-13 |
Suboptimal Learning Control for Nonlinear Systems with Both Parametric and Nonparametric Uncertainties |
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| YAN Qiu-Zhen,SUN Ming-Xuan.Suboptimal Learning Control for Nonlinear Systems with Both Parametric and Nonparametric Uncertainties[J].Acta Automatica Sinica,2015,41(9):1659-1668. |
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| Authors: | YAN Qiu-Zhen SUN Ming-Xuan |
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| Affiliation: | 1.College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023;2.College of Information Engineering, Zhejiang University of Water Resources and Electric Power, Hangzhou 310018 |
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| Abstract: | In this paper, two suboptimal learning control methods, an iterative one and a repetitive one, are proposed for a class of nonlinear systems with both time-varying parametric and nonparametric uncertainties. Sontag formula is used for the control design of a nominal system, while the robust learning mechanism is adopted to deal with both parametric and nonparametric uncertainties. A continuous controller design is carried out in order to avoid the chattering phenomenon that may arise due to the use of Sontag formula. It is shown that the closed-loop system state follows the desired trajectory with the pre-specified accuracy, as iteration or repetition increases. Numerical results demonstrate the effectiveness of the suboptimal learning control scheme. |
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| Keywords: | Suboptimal nonlinear control learning control parametrization nonparametric uncertainties |
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