未知时变时滞非线性参数化系统自适应迭代学习控制  

Adaptive iterative learning control for nonlinear parameterized-systems with unknown time-varying delays

作　　者：李俊民[1] 王元亮[1] 李新民[2] 

机构地区：[1]西安电子科技大学应用数学系,陕西西安710071 [2]西安科技大学通信学院,陕西西安710054

出　　处：《控制理论与应用》2011年第6期861-868,共8页Control Theory & Applications

基　　金：国家自然科学基金资助项目(60974139;60804021);中央高校基本科研业务费专项资金资助项目(72103676)

摘　　要：针对含有未知时变参数和时变时滞的非线性参数化系统,提出了一种新的自适应迭代学习控制方法.该方法将参数分离技术与信号置换思想相结合,可以处理含有时变参数和时滞相关不确定性的非线性系统.设计了一种自适应控制策略,使跟踪误差的平方在一个有限区间上的积分渐近收敛于零.通过构造Lyapunov-Krasovskii型复合能量函数,给出了闭环系统收敛的一个充分条件.给出两个仿真例子验证了控制方法的有效性.A new adaptive iterative learning control approach is proposed for a class of nonlinear systems with unknown time-varying parameters and time-varying delays. By using the parameter separation technique combined with the signal replacement mechanism, a novel adaptive control strategy is designed to ensure the tracking error for converging to zero in the mean-square sense on a finite time-interval. A sufficient condition for the convergence is also given by constructing a Lyapunov-Krasovskii-like composite energy function. The approach can be applied to the nonlinear systems with time- varying parameters and delay dependent uncertainties. Two simulation examples are provided to illustrate the efficacy of the proposed control algorithms.

关 键 词：非线性参数化系统 自适应迭代学习控制 时变参数 时变时滞 复合能量函数 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]