一种带参考批次的线性时变系统迭代学习控制算法  

Iterative learning control with reference batch for linear time-variant system

作　　者：耿辉[1] 熊智华[1] 徐用懋[1] ZHANG Jie 

机构地区：[1]清华大学自动化系,北京100084 [2]School of Chemical Engineering and Advanced Materials, Newcastle University, Newcastle upon Tyne NE1 7RU, UK

出　　处：《控制与决策》2009年第5期648-652,共5页Control and Decision

基　　金：国家自然科学基金项目(60874049);国家863计划项目(2007AA04Z193);UK Depart ment forInnovation,Universities and Skills under the UK/China Fellowshop for Execllence Programme

摘　　要：针对线性时变系统的轨迹跟踪控制问题,提出一种带参考批次的迭代学习控制算法,并给出了算法的收敛性分析.该迭代学习控制算法不需要事先了解线性时变对象的太多知识,而是将当前批次输入轨迹的较小变化所引起的输出轨迹作为参考批次,并以当前批次与参考批次的输入变化与对应的输出变化之比作为学习律,从而实现目标轨迹的跟踪.以一个典型的线性时变系统为例进行仿真分析,验证了所提出算法的有效性.For the trajectory tracking control of linear time-variant system, an iterative learning control method is presented and the convergence proof is given. This method does not need detailed knowledge of the system. However, a reference batch is designed, in which some small change of input trajectory in the current batch is applied to the system. Then its output trajectory is obtained. The ratio of the input change and corresponding output change in the current and reference batch is used as the gain in the learning law for calculating the input of next batch. Thus the method can track the desired trajectory successfully while the batch is running on. The simulation results show the effectiveness of the method.

关 键 词：迭代学习控制 参考批次 线性时变系统 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]