| 引用本文: | 张君海,石成英,林辉.基于向量图分析的一种迭代学习控制算法
及其鲁棒性[J].控制理论与应用,2007,24(1):155~159.[点击复制] |
| ZHANG Jun-hai , SHI Cheng-ying , LIN Hui.Iterative learning control algorithmbased on vector plots analysis and its robustness[J].Control Theory and Technology,2007,24(1):155~159.[点击复制] |
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| 基于向量图分析的一种迭代学习控制算法
及其鲁棒性 |
| Iterative learning control algorithmbased on vector plots analysis and its robustness |
| 摘要点击 1237 全文点击 1266 投稿时间：2005-10-10 修订日期：2006-07-17 |
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| DOI编号 10.7641/j.issn.1000-8152.2007.1.029 |
| 2007,24(1):155-159 |
| 中文关键词 迭代学习控制 向量图分析 鲁棒性 |
| 英文关键词 iterative learning control vector plots
analysis robustness |
| 基金项目 航空科学基金资助项目 04F53036 |
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| 中文摘要 |
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为了增强迭代学习控制的鲁棒性,
加快学习过程的收敛速度, 而又不过多地依赖于系统内部信息,
本文基于向量图分析思路, 利用输入空间的向量构造三角形修正结构,
得到了一种新的迭代学习控制算法. 该算法根据跟踪误差的大小,
调节输入控制量在三角形的一条边上滑动,在跟踪误差较大时,
算法能找到控制期望的大致位置并加速收敛, 在跟踪误差较小时,
能将控制量稳定在其期望的很小邻域内,
理论上证明了该邻域直径大小为跟踪误差的二阶无穷小.
数值仿真结果说明了它的有效性和优越性. |
| 英文摘要 |
| Based on vector plot analysis
method, a new ILC(iterative learning control) algorithm is proposed
by constructing triangle
amending structure in the input vector space. The algorithm can enhance the ILC
robustness and accelerate the convergence of learning process by adjusting the control
input to slide along an edge of the triangle, based on the norm of tracking error.
When the tracking error is comparatively large, the algorithm can locate
an appropriate
position for control input expectation and then accelerate the convergence. If the tracking
error is comparatively small, the algorithm can restrict the control input in
a very small neighborhood of its expectation with a diameter being the second order infinitesimal of tracking error. Numerical
simulations show its effectiveness and advantage. |
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