| 多变量非线性系统的变阶采样迭代学习控制 |
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| 引用本文： | 孙明轩,李芝乐,朱胜.多变量非线性系统的变阶采样迭代学习控制[J].自动化学报,2013,39(7):1027-1036. |
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| 作者姓名： | 孙明轩 李芝乐 朱胜 |
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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(61174034, 60874041),浙江省自然科学基金(LQ12F03005)资助 |
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| 摘 要： | 针对存在初态误差的情形, 提出多变量非线性系统的变阶采样迭代学习控制方法. 相对固定阶迭代学习算法, 变阶算法可有效降低跟踪误差. 对变阶采样迭代学习算法进行了收敛性分析, 推导出收敛充分条件. 给出了变阶学习的两种实现策略-DD (Direct division)和DIP (Division in phases)策略. 数值仿真表明, 基于DIP策略的变阶采样迭代学习算法在获得较高的控制精度的同时, 具有较快的收敛速度.
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| 关 键 词： | 多变量系统 采样系统 初始修正作用 变阶迭代学习控制 |
| 收稿时间： | 2011-11-14 |
Varying-Order Sampled-Data Iterative Learning Control for MIMO Nonlinear Systems |
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| SUN Ming-Xuan,LI Zhi-Le,ZHU Sheng.Varying-Order Sampled-Data Iterative Learning Control for MIMO Nonlinear Systems[J].Acta Automatica Sinica,2013,39(7):1027-1036. |
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| Authors: | SUN Ming-Xuan LI Zhi-Le ZHU Sheng |
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| Affiliation: | 1.College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023;2.City College, Zhejiang University, Hangzhou 310015 |
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| Abstract: | In this paper, the problem of sampled-data iterative learning control is addressed for a class of nonlinear MIMO systems in the presence of perturbed initial conditions. In contrast to the fixed-order learning algorithms, a varying-order learning algorithm is proposed, for enhancing tracking performance against repositioning errors. Sufficient convergence conditions of the proposed varying-order learning algorithm are given, by which the learning gain can be chosen. The proposed learning algorithm is shown to be a unified one, because it is applicable to the systems with arbitrary but well-defined relative degree. Two implementation schemes, sampled-data direct division (DD) and division in phases (DIP) schemes, are presented, and numerical results are given to demonstrate effectiveness of the proposed schemes. |
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| Keywords: | MIMO systems sampled-data systems initial rectifying action varying-order iterative learning control |
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