一类控制方向未知不确定性系统的自适应迭代学习控制  

Adaptive Iterative Learning Control for a Class of Uncertain Systems with Unknown Control Direction

作　　者：李广印[1] 孙云平[1] 贾纳豫[2] 

机构地区：[1]云南师范大学信息学院,云南昆明650092 [2]玉溪师范学院信息技术工程学院,云南玉溪653100

出　　处：《云南师范大学学报（自然科学版）》2015年第4期19-27,共9页Journal of Yunnan Normal University:Natural Sciences Edition

基　　金：国家自然科学基金资助项目(61164017);云南省科技厅基金资助项目(2010ZC069);云南省教育厅基金资助项目(2010Y006;2014Y412)

摘　　要：采用了一种自适应迭代学习的控制方法,对于一类含有未知控制方向以及参数化和非参数化不确定性系统进行了研究.结合连续的Nussbaum增益技术,很好地处理了系统中控制方向未知的问题.在满足局部Lipschitz连续条件下,非参数化不确定性可以得到有效的解决.通过构造微分-差分耦合参数自适应律,提出一种自适应迭代学习控制方案,保证系统跟踪误差沿迭代轴方向渐进收敛于零.基于一个构造的Lyapunov泛函,给出闭环系统收敛的一个充分条件.实例仿真结果验证了设计方法是有效的.A method of adaptive iterative learning control is searched for a class of uncertain systems with unknown control direction and both parametric and non-parametric uncertainties.A technique of the continuous Nussbaum gain is incorporated into the control design to counteract the lack of a priori knowledge of the control direction which determines the motion direction of the system under any input.Nonparametric uncertainties satisfying local Lipschitz continuous condition can be effectively handled.A new adaptive iterative learning control mechanism is constructed with both differential and difference updating laws to guarantee the asymptotic convergence of the system tracking error sequence along the iteration axis.Based on a constructed Lyapunov functional,a sufficient condition of the convergence of the closed-loop system is given.The simulation result shows the effectiveness of the proposed method.

关 键 词：不确定性系统 NUSSBAUM增益 未知控制方向 局部Lipschitz连续 LYAPUNOV泛函 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]