基于H_∞方法的鲁棒迭代学习控制器在精密工件台中的应用  

APPLICATION OF A ROBUST ITERATIVE LEARNING CONTROLLER USING AN H_∞ APPROACH IN PRECISION WORKPIECE STAGE

作　　者：杨孟远 黄发均 

机构地区：[1]中船重工集团公司第七二二研究所,湖北武汉430079

出　　处：《计算机应用与软件》2009年第10期152-154,161,共4页Computer Applications and Software

摘　　要：针对精密工件台系统,研究迭代学习控制器(ILC)的设计问题,提出一种基于H∞法的ILC设计方法,分析该方法的可解性,推导出误差收敛的充要条件,并通过此方法将迭代学习控制器的综合问题转化为H∞最(次)优控制器的综合问题。同时介绍一种可明确处理过程不确定性的鲁棒ILC方法,这种ILC算法可使系统的学习性能最大化。精密工件台的实验结果表明所提出的设计方法是有效的。t The design procedure of iterative learning controller （ILC） was studied aiming at precision workpiece stage system in this paper, and a design method of ILC based on H∞ approach was presented. The solvability of the method was analyzed, and the necessary and sufficient condition of error convergence has been derived. Through the method the synthesis of an iterative learning controller was generalized to the synthesis of an H∞ （sub） optimal controller. In this paper it also introduced a robust ILC method for explicitly dealing with process uncertainty. It allows the designer to maximize the learning performance for a specified class of systems. The practical usefulness of the scheme is verified on a precision workpiece stage experimental setup.

关 键 词：迭代学习控制 鲁棒性 精密工件台 H∞综合 学习性能 

分 类 号：TP273.22[自动化与计算机技术—检测技术与自动化装置] TG53[自动化与计算机技术—控制科学与工程]