一种参数优化的非线性离散系统鲁棒迭代学习控制方法  

A robust iterative learning control with parameter-optimization for discrete nonlinear systems

作　　者：逄勃[1] 邵诚[1] 

机构地区：[1]大连理工大学先进控制技术研究所,辽宁大连116024

出　　处：《控制与决策》2014年第3期449-454,共6页Control and Decision

基　　金：国家自然科学基金项目(61074020)

摘　　要：针对带有扰动的一类离散非线性系统的鲁棒迭代学习控制问题,设计一种基于参数优化的迭代学习控制算法.该算法能够保证在有初始状态误差和状态、输出扰动的情况下使闭环系统具有鲁棒BIBO稳定性,系统输出能够单调收敛于给定输出轨迹的邻域内;在没有初始状态误差和扰动的情况下能够以零稳态误差跟踪给定输出轨迹.最后通过仿真分析验证了所提出算法的有效性.A robust parameter-optimal iterative learning control algorithm is presented for a class of discrete time nonlinear dynamic system with disturbances. The proposed algorithm has the property of robust BIBO stability of closed loop system, and the system output can monotonously converge to the neighbor domain of desired trajectories in the presence of state, output disturbances and initial uncertainties. In the absence of these disturbances, the system output can converge to desired trajectories with zero steady-state error. Finally, simulation analysis illustrates the effectiveness of the proposed algorithm.

关 键 词：迭代学习控制 参数优化 鲁棒性 

分 类 号：TP15[自动化与计算机技术—控制理论与控制工程]