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| 非线性离散时间系统的最优终端迭代学习控制 | |
| 引用本文： | 池荣虎,侯忠生,王郸维,金尚泰.非线性离散时间系统的最优终端迭代学习控制[J].控制理论与应用,2012,29(8):1025-1030. |
| 作者姓名： | 池荣虎 侯忠生 王郸维 金尚泰 |
| 作者单位： | 1. 青岛科技大学自动化与电子工程学院,山东青岛,266042 2. 北京交通大学电子与信息工程学院先进控制系统研究所,北京,100044 3. 南洋理工大学电机与电子工程学院E-城市研究中心,新加坡,639798 |
| 基金项目： | This work is supported by National Science Foundation of China (Nos. 60974040, 60834001, 61120106009), the Research Award Foundation for the Excellent Youth Scientists of Shandong Province of China (No. BS2011DX010), and the Fundamental Research Funds for the Central Universities (No. 2011JBM201). |
| 摘 要： | 仅利用系统的终端输出误差而不是整个输出轨迹,提出了一种最优终端迭代学习控制方法.控制信号可直接通过终点的误差信息进行更新.主要创新点在于控制器的设计和分析只利用系统量测的I/O数据而不需要关于系统模型的任何信息,并可实现沿迭代轴的单调收敛.在此意义上,所提出的控制器是数据驱动的无模型控制方法.严格的数学分析和仿真结果均表明了所提出方法的适用性和有效性. |
| 关 键 词： | 终端迭代学习控制 最优设计 数据驱动控制 非线性系统 |
| 收稿时间： | 5/5/2012 12:00:00 AM |
| 修稿时间： | 2012/6/29 0:00:00 |
An optimal terminal iterative learning control approach for nonlinear discrete-time systems |
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| CHI Rong-hu,HOU Zhong-sheng,WANG Dan-wei and JIN Shang-tai.An optimal terminal iterative learning control approach for nonlinear discrete-time systems[J].Control Theory & Applications,2012,29(8):1025-1030. | |
| Authors: | CHI Rong-hu HOU Zhong-sheng WANG Dan-wei and JIN Shang-tai |
| Affiliation: | School of Automation and Electrical Engineering, Qingdao University of Science and Technology,Advanced Control Systems Lab, School of Electronics and Information Engineering, Beijing Jiaotong University,EXQUISITUS, Centre for E-City, School of Electrical and Electronic Engineering, Nanyang Technological University,Advanced Control Systems Lab, School of Electronics and Information Engineering, Beijing Jiaotong University |
| Abstract: | This paper presents an optimal terminal iterative learning control (TILC) approach by considering only the terminal output tracking error instead of the whole output trajectory tracking error. The control signal is directly updated from the error information of the given final terminal point. The key contributions of the presented optimal terminal iterative learning control (ILC) is that the controller design and analysis only uses the measured I/O data without any modeling information of the plant and the monotonic convergence is guaranteed. In this sense, the proposed controller is a datadriven approach. Both rigorous mathematical analysis and simulation results illustrate the applicability and effectiveness of the proposed approach. |
| Keywords: | terminal iterative learning control (ILC) optimality-based design data-driven control nonlinear systems |
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