非线性时滞系统的周期自适应学习跟踪控制  

Cyclical Adaptive Iterative Learning Tracking Control for a Class of Nonlinear Time-delay Systems

作　　者：霰学会[1] 陶洪峰[1] 杨慧中[1] 

机构地区：[1]江南大学教育部轻工过程先进控制重点实验室,江苏无锡214122

出　　处：《控制工程》2013年第1期22-25,共4页Control Engineering of China

基　　金：国家自然科学基金资助项目(60674092);中央高校基本科研业务费专项资金资助(JUSRP111A47);上海市科学技术委员会资助项目(09DZ2273400)

摘　　要：针对一类参数未知的周期非线性时滞系统的输出跟踪控制问题,设计了一种周期自适应迭代学习跟踪控制算法,该方法利用信号置换的思想重组系统,并在假设未知时变参数和参考输出的周期具有已知最小公倍数的情况下,将时滞以及其他不确定的时变项合并为一个周期性的辅助时变参数新变量,进而用周期自适应算法来估计该辅助量。通过构造一个Lyapunov-Krasovskii型复合能量函数,分析了系统的收敛性,证明了经过多次重复迭代学习,所有闭环信号有界且输出跟踪误差收敛,最后通过构造数值实例进行了仿真验证。理论分析和仿真结果表明,该算法简单有效,对于非线性时滞系统的跟踪问题具有很好的控制效果。A cyclical adaptive iterative learning control algorithm is proposed for the output tracking control matter of a periodic time- delay nonlinear systems with unknown time-varying parameters, By using the signal replacement theory on the assumption that the un- known time-varying parameters and the expected output have a lowest common multiple which is known, combine the delay and other unknown time-varying parameters into a new auxiliary parameter which is periodic and time-varying, and then use the periodic adaptive algorithm to estimate the parameters. A lyapunov-Krasovskii type composite energy function is constructed to analysis the convergence of the system, and prove that all the closed-loop signals are bounded and the tracking error is convergent after repeating the iterative learn- ing. Finally by an example is designed to simulate. Theoretical analysis and simulation results show that the algorithm is simple and ef- fective , and has a very good control effect for nonlinear systems with time delay tracking problem.

关 键 词：学习控制 非线性时滞系统 周期自适应 信号置换 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]