| 引用本文: | 孙明轩, 何熊熊, 俞立.迭代学习控制器设计: 一种有限时间死区方法[J].控制理论与应用,2007,24(3):349~355.[点击复制] |
| SUN Ming-xuan, HE Xiong-xiong, YU Li.Iterative learning controller designs: a finite time dead-zone approach[J].Control Theory and Technology,2007,24(3):349~355.[点击复制] |
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| 迭代学习控制器设计: 一种有限时间死区方法 |
| Iterative learning controller designs: a finite time dead-zone approach |
| 摘要点击 1636 全文点击 3193 投稿时间：2005-09-02 修订日期：2006-06-27 |
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| DOI编号 |
| 2007,24(3):349-355 |
| 中文关键词 迭代学习控制 初始条件问题 有限时间收敛性 死区 |
| 英文关键词 iterative learning control initial condition problem finite time convergence dead-zone |
| 基金项目 国家自然科学基金资助项目(60474005); 教育部留学回归人员科研启动基金资助项目. |
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| 中文摘要 |
| 提出系统不确定性项定常参数化和时变参数化情形下的控制器设计方法, 它允许初始位置任意设置且定位误差不要求足够小. 在设计的控制器中, 采用有限时间死区技术, 以保证跟踪误差收敛到这种死区所确定的区域.提出初始修正吸引子的概念, 构造的时变死区含这种初始修正吸引子, 以使得闭环系统在给定时间区间上可实现完全跟踪. 理论分析与仿真结果表明, 跟踪误差信号在一预先指定区间上收敛到零, 在起始区间段上被囿于死区所确定的区域中; 并保证闭环系统中所有信号是有界的. |
| 英文摘要 |
| The problem of iterative learning control in the presence of initial repositioning errors is addressed without assuming the bound on the repositioning errors to be small enough for the consideration of convergence. For the controller design, a finite time dead-zone approach is applied, where initial rectified attractor is introduced and adopted for constituting the dead-zone. It is also shown that all the signals in the closed-loop are bounded and the resultant tracking error lies within the confined dead-zone, by which the complete tracking over a pre-specified time-interval is achieved. Finally, the effectiveness of the proposed method is verified through theoretical and numerical results for systems with both unknown time-invariant and time-varying parameters. |
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