共查询到20条相似文献,搜索用时 15 毫秒
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非线性系统高阶迭代学习算法 总被引:3,自引:1,他引:2
结合迭代学习控制算法中的开环和闭环方案,本文针对更一般的非线性系统,讨论高阶算法的广泛适用性。理论和仿真结果表明了高阶算法在输出跟踪和干扰抑制方面的有效性。 相似文献
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连续非线性系统的迭代学习控制方法* 总被引:7,自引:1,他引:7
本文根据误差收敛准则,提出了连续非线性系统的迭代学习控制算法,给出了PID型学习控制算法的收效条件,实际应用表明,该方法可以逼近预定的任意轨线。 相似文献
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非线性非仿射离散时间系统的两阶段最优迭代学习控制 总被引:3,自引:0,他引:3
On the basis of a new dynamic linearization technology along the iteration axis,a dual-stage optimal iterative learning control is presented for nonlinear and non-affine discrete-time systems.Dual-stage indicates that two optimal learning stages are designed respectively to improve control input sequence and the learning gain iteratively.The main feature is that the controller design and convergence analysis only depend on the I/O data of the dynamical system.In other words,we can easily select the control parameters without knowing any other knowledge of the system.Simulation study illustrates the geometrical convergence of the presented method along the iteration axis,in which an example of freeway traffic iterative learning control is noteworthy for its intrinsic engineering importance. 相似文献
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基于小波逼近的非线性系统鲁棒迭代学习控制 总被引:3,自引:0,他引:3
针对存在扰动的未知非线性系统,利用小波逼近将系统参数化,结合变结构控制技术,提出了一种鲁棒迭代学习控制算法.该算法采用迭代学习的方式修正小波逼近的系数,利用具有死区的滑模变结构技术保证算法的鲁棒收敛性.收敛性分析表明,每次迭代学习都将减小所得到的逼近系数与最佳系数的差异.因此,期望轨迹变化后,该算法针对以前轨迹的学习结果仍然可以起作用,部分克服了传统迭代学习控制的学习结果仅对某一特定轨迹有效的缺点. 相似文献
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非线性非仿射离散时间系统的两阶段最优迭代学习控制 总被引:1,自引:0,他引:1
针对非仿射非线性离散时间系统, 基于一种新的沿迭代轴的动态线性化技术, 提出了双层最优迭代学习控制算法. 双层意味着分别设计了两个最优学习层, 迭代的改进控制输入序列和学习增益. 其主要特点是控制器的设计和收敛性分析只依赖于动态系统的 I/O 数据. 换句话说, 不需要知道系统的任何其他信息就可以很容易的选取控制器参数. 仿真研究表明了提出的算法沿迭代轴具有几何收敛性, 这一特点在快速路交通迭代学习控制中具有重要的工程意义. 相似文献
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非线性离散时间系统迭代学习控制的稳定性分析 总被引:1,自引:0,他引:1
讨论了初始偏移对于非线性离散时间系统迭代学习控制性能的影响.提出描述选择学习控制算法的学习律,并给出保证系统稳定性的充分条件. 相似文献
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Gu Panpan Tian Senping 《International Journal of Control, Automation and Systems》2019,17(9):2203-2210
International Journal of Control, Automation and Systems - In this paper, the problem of iterative learning control is considered for a class of one-sided Lipschitz nonlinear systems. For such... 相似文献
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严格反馈非线性时变系统的迭代学习控制 总被引:4,自引:0,他引:4
针对一类含未知时变参数的严格反馈非线性系统, 提出一种实现有限作业区间轨迹跟踪控制的迭代学习算法. 基于Lyapunov-like方法设计控制器, 回避了常规迭代学习控制中受控系统非线性特性需满足全局Lipschitz连续条件的要求. 以反推设计(Backstepping)方法设计控制器, 为使得虚拟控制项可导, 引入一级数收敛序列; 将时变参数展开为有限项多项式形式, 在控制器设计中采取双曲正切函数处理余项对于系统跟踪性能的影响. 理论分析表明, 闭环系统所有信号有界, 并能够实现系统输出完全收敛于理想轨迹. 相似文献
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In this paper, both output-feedback iterative learning control (ILC) and repetitive learning control (RLC) schemes are proposed for trajectory tracking of nonlinear systems with state-dependent time-varying uncertainties. An iterative learning controller, together with a state observer and a fully-saturated learning mechanism, through Lyapunov-like synthesis, is designed to deal with time-varying parametric uncertainties. The estimations for outputs, instead of system outputs themselves, are applied to form the error equation, which helps to establish convergence of the system outputs to the desired ones. This method is then extended to repetitive learning controller design. The boundedness of all the signals in the closed-loop is guaranteed and asymptotic convergence of both the state estimation error and the tracking error is established in both cases of ILC and RLC. Numerical results are presented to verify the effectiveness of the proposed methods. 相似文献
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Robust Optimization-Based Iterative Learning Control for Nonlinear Systems With Nonrepetitive Uncertainties 下载免费PDF全文
This paper aims to solve the robust iterative learning control(ILC)problems for nonlinear time-varying systems in the presence of nonrepetitive uncertainties.A new optimization-based method is proposed to design and analyze adaptive ILC,for which robust convergence analysis via a contraction mapping approach is realized by leveraging properties of substochastic matrices.It is shown that robust tracking tasks can be realized for optimization-based adaptive ILC,where the boundedness of system trajectories and estimated parameters can be ensured,regardless of unknown time-varying nonlinearities and nonrepetitive uncertainties.Two simulation tests,especially implemented for an injection molding process,demonstrate the effectiveness of our robust optimization-based ILC results. 相似文献
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一类非线性相似组合大系统的迭代学习控制 总被引:3,自引:0,他引:3
利用状态反馈部分线性化技术研究了一类非线性相似组合大系统的迭代学习控制问题。与现有结果不同的是,它不直接研究系统本身,而是构造一个适当的 反馈,然后对闭环系统给出其迭代学习收敛的充分条件, 相似文献
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任意初值非线性不确定系统的迭代学习控制 总被引:1,自引:0,他引:1
为解决任意初态下的轨迹跟踪问题, 针对一类含参数和非参数不确定性的非线性系统, 提出基于滤波误差初始修正的自适应迭代学习控制方法. 利用修正滤波误差信号设计学习控制器, 并以Lyapunov方法进行收敛性能分析. 依据类Lipschitz条件处理非参数不确定性, 对于处理过程中出现的未知时变参数向量, 利用自适应迭代学习机制进行估计. 经过足够多次迭代后, 藉由修正滤波误差在整个作业区间收敛于零, 实现滤波误差本身在预设的作业区间也收敛于零. 仿真结果表明了本文所提控制方法的有效性. 相似文献
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A Unified Adaptive Iterative Learning Control Framework for Uncertain Nonlinear Systems 总被引:2,自引:0,他引:2
In this note, we propose a unified framework for adaptive iterative learning control design for uncertain nonlinear systems. It is shown that if a Lyapunov based adaptive control law is available for the system under consideration and the Lyapunov function satisfies certain conditions, it is straightforward to extend the adaptive controller to handle repetitive systems operating over a finite time interval. According to the value of a certain parameter gamma, the parametric adaptation law can be a pure time-domain adaptation, a pure iteration-domain adaptation or a combination of both.A pure iteration-domain adaptation is described by a difference equation, a pure time-domain adaptation is described by a differential equation, and a combination of both is described by a differential-difference equation. The advantages and disadvantages of the three possible adaptation types are discussed and some illustrative examples are given. [All rights reserved Elsevier]. 相似文献
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Agent平台之间通过公共通信设施进行通信。Agent和通信服务协议自身不提供加密和签名等功能,这给Agent的通信带来了威胁。SSL是一种在客户端和服务器端建立安全通道的协议,通过对SSL协议的分析,认为SSL的加密套件与身份认证安全机制可以为Agent平台之间的通信提供安全通道,提出了将SSL协议架设在Agent平台之下通信协议之上的安全通信方案,给出了基于SSL协议的Agent通信代码,保证了Agent平台间的通信安全。 相似文献
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基于工业过程稳态优化中递阶控制结构和线性工业过程控制系统中的迭代学习控制规律, 本文对饱和非线性工业过程控制系统和变增益非线性工业过程控制系统施行迭代学习控制, 分别给出加权PD 型闭环迭代学习控制算法和加权幂型开闭环迭代学习控制算法, 提出了期望目标轨线的 δ 可达性和迭代学习算法的ε 收敛性的概念. 利用Bellman Gronwall不等式和λ 范数理论, 论证了算法的收敛性. 数字仿真表明, 迭代学习控制能有效改善非线性工业控制系统在稳态优化时的动态品质. 相似文献