非线性连续系统带有初始修正的重复学习控制方法  

Repetitive learning control with initial rectifyingaction for nonlinear continuous systems

作　　者：王芳颖[1] 

机构地区：[1]中山大学信息科学与技术学院,广州510006

出　　处：《中山大学研究生学刊（自然科学与医学版）》2013年第3期77-90,共14页Journal of the Graduates Sun YAT-SEN University(Natural Sciences.Medicine)

摘　　要：本文是对一种在非线性连续多变量系统上具有初始修正的重复学习控制(RLC)方法进行研究。目的是将初始修正结合到常用的D型重复学习控制中,用这种重复学习控制方法来跟踪带有不固定初始误差的非线性连续多变量系统。在已有的带初始修正的迭代学习控制方法中,仅能实现在去除修正时间间隔的有限时长进行期望轨迹的跟踪,当应用到重复学习控制方法中,利用期望轨迹的闭合性质,带初始修正的重复学习控制方法可实现在有限时长的全部时间内进行期望轨迹的跟踪。最后数值的例子是用来说明RLC方法的有效性。A new repetitive learning control( RLC) method with initial rectifying action for nonlinear continuousmultivariable systems is presented. The main objective of this paper is to describe how an initialrectifying action can be combined into the conventional D-type RLC technique for nonlinear continuous multivariable systems with non-fixed initial errors. Theexistingiterative learning control( ILC) techniquesonly canpursues the reference trajectory tracking beyond the initial time interval. While the technique is applied to the RLC of nonlinear continuous multivariable systems,using the closed nature of reference trajectory,a complete reference trajectory tracking over the whole time interval can be achieved. A numerical example is used to illustrate the effectiveness of the proposed RLC approach.

关 键 词：重复学习控制 RLC 非线性连续多变量系统 NCM 闭合曲线 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]