一种新型的迭代学习控制器设计研究

针对一般连续系统的迭代学习控制问题进行了讨论,通过对常用的P型迭代学习控制算法的分析,在分析比较P型、PD型迭代学习控制律存在问题的基础上,提出了一种新型的迭代学习控制算法,利用误差信号以及相邻两次误差的差值信号对系统控制律进行逐次修正,既能避免PD型迭代算法由于微分作用而出现的不良影响,又可以充分地利用了系统已保存的有效信息,从而实现良好的跟踪效果以及较快的跟踪收敛速度,最后通过对一非线性连续系统的仿真,结果验证了算法相对于传统P算法的有效性与优越性.

A New Kind of Iterative Learning Controller

A discussion is made on the iterative learning controller for a class of continuous systems.After analyzing the P-type iterative learning control(ILC),a new kind of ILC algorithm is proposed based on comparing the P-type with the PD-type.It uses the error signal and the difference of the error signal to correct the controller,which can avoid the blight of the differential,also fully use the available information.So it can achieve better tracking effect and high convergence rate.At last the simulation of a n...