非参数不确定系统的双周期重复控制
Dual-period repetitive control for nonparametric uncertain systems
摘要点击 31  全文点击 26  投稿时间:2017-07-16  修订日期:2018-04-08
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DOI编号  10.7641/CTA.2018.70479
  2018,35(9):1311-1319
中文关键词  重复控制  多周期学习控制  Lyapunov方法  非参数不确定性
英文关键词  repetitive control  multi-period learning control  Lyapunov approach  nonparametric uncertainties
基金项目  国家自然科学基金( 61573322, 61673050), 浙江省公益技术应用研究项目(2016C32093, 2017C33155), 浙江省教育厅科研项目(Y201635861)资助
学科分类代码  0811
作者单位E-mail
严求真 浙江水利水电学院 zjyqz@126.com 
柳向斌 北京交通大学  
朱胜 浙江大学城市学院  
蔡建平 浙江水利水电学院  
中文摘要
      针对一类扰动周期与参考信号周期之间无公共倍数的非参数不确定系统, 为实现对参考信号的跟踪, 本文 提出一种双周期重复控制方法. 基于Lyapunov方法设计控制器, 结合鲁棒方法与双周期重复学习方法处理非参数 不确定项与周期性扰动, 利用无限幅学习方法估计时变参数. 本文给出了闭环系统中无限幅学习量有界的数学证 明, 其结果优于多数现有文献中的L2意义下有界. 经过足够多个周期的重复运行后, 可实现系统输出在整个重复周 期上无误差跟踪参考信号. 最后, 通过仿真示例表明了所提控制方法的有效性.
英文摘要
      In this work, we present a dual-periodic repetitive control scheme that deals with periodic tracking tasks for a class of nonparametric uncertain systems, with no common multiple between the period of the disturbance and that of the reference signal. The learning controller is designed based on the Lyapunov synthesis, compensating nonparametric uncertainties and the periodic disturbance by both robust mechanism and dual-period repetitive learning mechanism. The unlimited learning strategy is applied to estimate time-varying parameters. Through rigorous analysis, we prove that the estimations themselves are bounded, indicating an improvement on the mere boundedness of L2-meaning from most existing works. As the repetitive cycle increases, the system output can track its reference signal perfectly over its full period. In the end, an illustrative example is provided to demonstrate the efficacy of the proposed dual-period repetitive control scheme.