控制方向未知非线性系统的自适应重复控制  

Adaptive repetitive control for a class of nonlinear systems with unknown control direction

作　　者：金奎[1] 孙明轩[1] 

机构地区：[1]浙江工业大学信息工程学院,浙江杭州310023

出　　处：《控制理论与应用》2012年第9期1176-1180,共5页Control Theory & Applications

基　　金：国家自然科学基金资助项目(60874041;61174034)

摘　　要：针对控制方向未知的、存在周期性非参数不确定性的一类非线性系统,给出零误差跟踪的重复控制方法.引入Nussbaum函数设计自适应重复控制器,参数估计修正律采用完全饱和形式,将参数估计囿于预先给定的范围内.分析表明,闭环系统中所有信号本身有界,且跟踪误差本身趋于零.数值仿真结果验证了算法的有效性.We present an adaptive repetitive control for a class of nonlinear systems with periodic nonparametric uncer- tainties and unknown control direction. This repetitive controller is designed with the aid of Nussbaum function; and the saturation mechanism adopted in the learning algorithm confines the estimated parameters to a pre-determined region. The proposed control method guarantees that all the signals in the closed-loop are bounded and the tracking error converges to zero as time approaches infinity. Numerical simulations are carried out to demonstrate the effectiveness of the presented control scheme.

关 键 词：NUSSBAUM函数 非参数不确定性 控制方向 自适应重复控制 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]