一类退化系统目标跟踪学习控制的吸引流形方法  

Attractive manifold method for target tracking learning control of a class of degenerate systems

作　　者：田森平[1] 谢胜利[2] 何刚[1] 

机构地区：[1]华南理工大学自动化科学与工程学院,广东广州510640 [2]华南理工大学无线电与自动控制研究所,广东广州510640

出　　处：《控制理论与应用》2007年第1期25-31,45,共8页Control Theory & Applications

基　　金：国家自然科学基金资助项目(60674034)

摘　　要：针对一类退化系统目标跟踪的迭代学习控制问题进行了探讨．这类系统不满足目前对迭代学习控制通常所要求的收敛性条件,从而使得学习控制方法在这类系统上的应用遇到困难．为了解决这类问题,提出了一种新的设计方案——吸引流形方法．通过构造一个相应于所给系统稳定而吸引的流形,且在构造的过程中同时设计出学习控制函数序列,以使完成对所给期望目标的跟踪．同时也讨论了这种方法的可实现问题．另外,该方法可无本质困难地应用到相应的非线性系统上．The target tracking iterative learning control problem is discussed for a class of degenerate systems which do not satisfy the convergence condition. In this case, general learning control methods will suffer more or less difficulties when applying to this kind of systems. To solve this problem, we present a new method--attractive manifold method in which a stable and attractive manifold corresponding to the given system is constructed, and the learning control function sequence is designed simultaneously so as to realize the tracking of the expected target. We also study the feasibility of this newly presented method. In addition, the new method can also be applied to relevant nonlinear systems without any essential difficulties.

关 键 词：退化系统 目标跟踪 迭代学习控制 吸引流形 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]