带有修正项的非线性系统自适应学习控制  

Adaptive Learning Control for Nonlinear Systems with Modification Functions

作　　者：李国军[1,2] 陈东杰[1] 董齐芬 卢甜甜[1] LI Guojun;CHEN Dongjie;DONG Qifen;LU Tiantian(College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China;Basic Courses Department,Zhejiang Police College,Hangzhou 310053,China;Department of Computer and Information Security,Zhejiang Police College,Hangzhou 310053,China)

机构地区：[1]浙江工业大学信息工程学院,浙江杭州310023 [2]浙江警察学院公共基础部,浙江杭州310053 [3]浙江警察学院计算机与信息安全系,浙江杭州310053

出　　处：《信息与控制》2020年第3期343-350,364,共9页Information and Control

基　　金：浙江省自然科学基金资助项目(LQ18G010001)。

摘　　要：针对带有任意初态偏差的非线性系统的自适应控制问题,借助迭代学习控制的思想,提出了一种带有修正初态偏差功能的自适应控制策略.该算法将整个控制过程分成若干个等长时间的子过程,在每个子过程中控制算法都会进行误差校正和参数学习,直到完全跟踪上为止.在控制过程中,利用反正切函数对控制量进行连续化处理,解决了控制过程中的颤振问题.最后,通过计算机仿真验证了算法的有效性.For the adaptive control of nonlinear systems with any initial state error,we propose an adaptive control strategy with a modified initial state error function through learning.The algorithm divides the whole control process into many subprocesses of equal length,and it does not rectify the error in each subprocess until the system has completed tracking.Furthermore,parameter learning is performed in each subprocess to speed up the convergence.In the control process,we design a continuous controller using the arctangent function,which can avoid the chattering problem.Two examples are provided to demonstrate the tracking performance of the proposed approach through computer simulations.

关 键 词：迭代学习 非线性系统 自适应控制 初始修正 收敛 

分 类 号：O231.2[理学—运筹学与控制论] TP271.61[理学—数学]