| 离散非线性时变系统开闭环PI型迭代学习控制律及其收敛性 |
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| 引用本文： | 皮道映,孙优贤.离散非线性时变系统开闭环PI型迭代学习控制律及其收敛性[J].自动化学报,1998,24(5):636-639. |
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| 作者姓名： | 皮道映 孙优贤 |
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| 作者单位： | 1.浙江大学工业控制技术国家重点实验室、工业控制技术研究所,杭州 |
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| 摘 要： | 对于具有重复运动性质的对象,迭代学习控制是一种有效的控制方法.针对一类
离散非线性时变系统在有限时域上的精确轨迹跟踪问题,提出了一种开闭环PI型迭代学习
控制律.这种迭代律同时利用系统当前的跟踪误差和前次迭代控制的跟踪误差修正控制作
用.给出了所提出的学习控制律收敛的充分必要条件,并采用归纳法进行了证明.最后用仿真
结果对收敛条件进行了验证.
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| 关 键 词： | 迭代学习控制 非线性时变系统 收敛性 |
| 收稿时间： | 1996-1-26 |
| 修稿时间： | 1996-01-26 |
An Open-Closed-Loop Pi-Type Iterative Learning Control Scheme for Discrete Nonlinear Time-Varying Systems and its Convergence |
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| PI DAOYING,SUN YOUXIAN.An Open-Closed-Loop Pi-Type Iterative Learning Control Scheme for Discrete Nonlinear Time-Varying Systems and its Convergence[J].Acta Automatica Sinica,1998,24(5):636-639. |
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| Authors: | PI DAOYING SUN YOUXIAN |
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| Affiliation: | 1.National Key Laboratory of Industrial Control Technology,Institute of Industrial Process Control,Zhejiang University,Hangzhou |
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| Abstract: | Iterative learning control is an effective approach to the control of processes that
are repetitive in nature. In this paper, an open-closed-loop PI-type iterative learning control
scheme for the precise tracking control of a class of discrete nonlinear time-varying systems
over a finite time interval is presented. The scheme updates control input with tracking errors
of both current and last iterations simultaneously. Sufficient and necessary conditions which
guarantee the convergence of the scheme are given and then proved with inductive method. Finally
the conditions are verified with simulation results. |
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| Keywords: | Iterative learning control nonlinear time-varying system convergence |
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