First-order D-type Iterative Learning Control for Nonlinear Systems with Unknown Relative Degree  

作　　者：SONGZhao-Qing MAOJian-Qin DAIShao-Wu 

机构地区：[1]DepartmentofControlEngineering,NavalAeronauticalEngineeringAcademy,Yantai264001 [2]TheSeventhResearchDivision,BeijingUniversityofAeronauticsandAstronautics,Beijing100083

出　　处：《自动化学报》2005年第4期555-561,共7页Acta Automatica Sinica

基　　金：SupportedbytheNationalKeyProjectforBasicResearchofP.R.China(G2002cb312205-4)andtheNationalNaturalScienceFoundationofP.R.China(90205012,10276005)

摘　　要：The classical D-type iterative learning control law depends crucially on the relative degreeof the controlled system, high order di?erential iterative learning law must be taken for systems withhigh order relative degree. It is very di?cult to ascertain the relative degree of the controlled systemfor uncertain nonlinear systems. A first-order D-type iterative learning control design method ispresented for a class of nonlinear systems with unknown relative degree based on dummy model inthis paper. A dummy model with relative degree 1 is constructed for a class of nonlinear systemswith unknown relative degree. A first-order D-type iterative learning control law is designed basedon the dummy model, so that the dummy model can track the desired trajectory perfectly, and thecontrolled system can track the desired trajectory within a certain error. The simulation exampledemonstrates the feasibility and e?ectiveness of the presented method.The classical D-type iterative learning control law depends crucially on the relative degreeof the controlled system, high order di?erential iterative learning law must be taken for systems withhigh order relative degree. It is very di?cult to ascertain the relative degree of the controlled systemfor uncertain nonlinear systems. A first-order D-type iterative learning control design method ispresented for a class of nonlinear systems with unknown relative degree based on dummy model inthis paper. A dummy model with relative degree 1 is constructed for a class of nonlinear systemswith unknown relative degree. A first-order D-type iterative learning control law is designed basedon the dummy model, so that the dummy model can track the desired trajectory perfectly, and thecontrolled system can track the desired trajectory within a certain error. The simulation exampledemonstrates the feasibility and e?ectiveness of the presented method.

关 键 词：迭代知识控制 非线性系统 关联度 虚拟模型 反转限制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]