离散自适应重复控制:收敛性分析与实现  

Discrete Adaptive Repetitive Control: Convergence Analysis and Implementation

作　　者：孙明轩[1] 余林江[1] 何海港[1] 

机构地区：[1]浙江工业大学信息工程学院,杭州310023

出　　处：《自动化学报》2013年第4期400-406,共7页Acta Automatica Sinica

基　　金：国家自然科学基金(60874041;61174034)资助~~

摘　　要：针对周期已知情形下的离散周期时变系统,提出一种自适应重复控制方法,参数估计采用带死区修正的重复学习投影算法.关键技术引理在分析离散自适应控制系统时起到了关键作用,通过推广这一引理,文中给出重复域关键技术引理,用于证明离散自适应重复控制系统的稳定性和收敛性.理论分析表明,系统的输入和输出信号均有界;且当周期数趋于足够大时,跟踪误差收敛于一邻域中,其半径为干扰的界.在直线电机实验装置上的应用结果验证了所提出重复控制方法的有效性.This paper presents an adaptive repetitive control method for discrete periodically time-varying systems with known periodicity. When estimating unknowns, a repetitive learning projection algorithm with dead-zone is used. The result in this paper can be considered an application of the key technique lemma in repetition domain, by which stability and convergence of the discrete adaptive repetitive control system are established. It is shown that both system input and output are bounded and the tracking error would converge to the bound on the disturbance variable. A linear motor servo system is taken as an example, and experiment results are presented for demonstrating effectiveness of the proposed method.

关 键 词：自适应重复控制 投影算法 死区修正 离散周期系统 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]