A New Discrete-time Adaptive ILC for Nonlinear Systems with Time-varying Parametric Uncertainties  

作　　者：CHI Rong-Hu SUI Shu-Lin HOU Zhong-Sheng 

机构地区：[1]Institute of Autonomous Navigation and Intelligent Control, School of Automation and Electrical Engineering, Qingdao University of Science and Technology, Qingdao 266042, P.R. China [2]Advanced Control Systems Laboratory, School of Electronics and Information Engineering, Beijing Jiaotong University, Beijing 100044, P. R. China

出　　处：《自动化学报》2008年第7期805-808,共4页Acta Automatica Sinica

基　　金：National Natural Science Foundation of China(60474038);Science Research Foundation of Qingdao University of Science and Technology(0022324)

摘　　要：用在分离时间轴和反复的学习轴之间的类比，一条新分离时间的适应反复的学习控制(AILC ) 途径被开发与变化时间的参量的无常探讨非线性的系统的一个班。类似于适应控制，新 AILC 能合并一个设计算法，因此，学习获得能沿着学习的轴反复地被调节。当起始的状态是随机的，参考轨道是变化重复的时，新 AILC 能沿着反复的学习轴 asymptotically 在有限时间间隔上完成 pointwise 集中。Using the analogy between the discrete time axis and the iterative learning axis, a new discrete-time adaptive iterative learning control （AILC） approach is developed to address a class of nonlinear systems with time-varying parametric uncertainties. Analogous to adaptive control, the new AILC can incorporate a projection algorithm, thus the learning gain can be tuned iteratively along the learning axis. When the initial states are random and the reference trajectory is iteration-varying, the new AILC can achieve the pointwise convergence over a finite time interval asymptotically along the iterative learning axis.

关 键 词：自动化技术 智能系统 非线性系统 离散时间系统 不确定性 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]