误差约束严格反馈系统的迭代学习控制  

Iterative learning control of error-constrained strict-feedback systems

作　　者：陈建勇[1,2] 孙明轩[1] CHEN Jian-yong;SUN Ming-xuan(College of Information Engineering,Zhejiang University of Technology,Hangzhou Zhejiang 310023,China;College of Information Technology,Wenzhou Vocational College of Science and Technology,Wenzhou Zhejiang 325000,China)

机构地区：[1]浙江工业大学信息工程学院,浙江杭州310023 [2]温州科技职业学院信息技术学院,浙江温州325000

出　　处：《控制理论与应用》2020年第6期1358-1366,共9页Control Theory & Applications

基　　金：国家自然科学基金项目(61174034,61573320)资助.

摘　　要：针对一类严格反馈非线性系统,本文提出误差跟踪学习控制算法,旨在解决状态约束问题和系统的初值问题.文中构造了二次分式型对称障碍Lyapunov函数以及二次分式型非对称障碍Lyapunov函数,并结合反推技术来分别设计学习控制器.两种控制方案里分别采用积分学习律和微分–差分学习律估计未知系数.系统跟踪误差在控制器作用下囿于预设的界内,从而实现迭代过程中对状态的约束;引入期望误差轨迹,经迭代学习后,两种控制方案均能够实现状态误差在整个作业区间上对期望误差轨迹的完全跟踪,并且实现系统输出在预指定作业区间上精确跟踪参考信号.数值仿真结果表明了控制方案的有效性.This paper presents an error-tracking iterative learning control approach for a class of strict-feedback nonlinear systems,which solves both the state-constrained problem and the initial-condition problem.The learning controllers are designed by using two types of quadratic-fraction barrier Lyapunov functions,and the backstepping technique is also applied.Integral learning law and differential-difference learning law are respectively used in the estimation of coefficients in the two control schemes.The system tracking error is enforced to stay in the pre-specified range by the controller,so as to realize the state constraint in the iterative process.A kind of desired error trajectory is constructed in this paper.After iterative learning,the two proposed control schemes can achieve the complete tracking of the desired error trajectory by the state error over the entire time interval,and the system output can accurately track the reference signal on the specified interval.Numerical results are presented to demonstrate the effectiveness of the control schemes.

关 键 词：约束状态 迭代学习控制 反推设计 微分–差分学习律 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]