迭代学习控制系统的误差跟踪设计方法_孙明轩.pdf

《迭代学习控制系统的误差跟踪设计方法_孙明轩.pdf》由会员上传分享，免费在线阅读，更多相关内容在行业资料-天天文库。

1、139ò13ÏgÄzÆVol.39,No.320133ACTAAUTOMATICASINICAMarch,2013SÆSXÚØl{11²ZîýÁÑU¢yÏ"Ø;,lSÆSXÚ{,3°~5SÆS{©½^,3zgS#½3?¿.ù«{éuýk½Ï"Ø;,,²SÆS,¢SlØÂñuý½Ø;,,ù,ýØ;,=ª/¤Ø;,.é~ëê!Cëê±9EÜëên«/,©æ^aLyapunov{SÆSXÚ.¤¹/¹Ì^ëêÆSÆ,UlØ;,3«mþý½;,

2、¬Ü,¿yXÚ¥¤k&Òk.5.Ñý(²¤{k5.'¯,Âñ5,SÆS,aLyapunov{Ú^ª²Z,îý.SÆSXÚØl{.gÄzÆ,2013,39(3):251−262DOI10.3724/SP.J.1004.2013.00251ErrorTrackingofIterativeLearningControlSystems11SUNMing-XuanYANQiu-ZhenAbstractThispaperpresentsaniterativelearningcontrolm

3、ethodwithwhichtheerrortrajectorycanbepre-specified.Themethoddosenotrequirethattheinitialconditionremainstobeafixedvalueforeachiteration,whereasthisrequirementisusuallyassumedinconventionalmethods.Theproposedstrategyistomakethetrackingerrortrajectoryconverget

4、othepre-specifiedoneovertheentireinterval.Theconstantparametrization,time-varyingparametrization,andacombinedsituationarerespectivelyexamined.BytheLyapunov-likeapproach,accordingly,learninglawsaregivenandthelearningsystemsareanalyzedindetails.Withthehelpofu

5、nsaturated/saturatedlearninglaw,thesystemerrorcoincideswiththepre-specifiederrortrajectoryovertheentireinterval,andallthesignalsinclose-loopsystemareguaranteedtobebounded.Numericalresultsarepresentedtodemonstratetheeffectivenessoftheproposedlearningcontrolme

6、thod.KeywordsInitialconditionproblem,convergence,iterativelearningcontrol,Lyapunov-likeapproachCitationMing-XuanSun,Qiu-ZhenYan.Errortrackingofiterativelearningcontrolsystems.ActaAutomaticaSinica,2013,39(3):251−262SÆS·Üukm«mþE{.©z[3]ÑPD.ÆSÆ.3½XÚ.ù«{Ï

7、Åg}Á,¿±le,ù«ÆSÆUy4;,÷m¶ªu";ØÆS&Ò,¢yXÚÑÑéÏ";,©z[3]éS3,½SCz[1].lSÆS¯´SÆS/,Ñõ)ûY,?Ú~ÂñXÚį.3SÆSXÚ,ǑlØ.©z[4]Ä"þ©Ø/,ÑyXÚÂñ5,zgSm©ǑS¹²þfÆSÆ.©z[5]Ñ©óÀ^[2]Ï".,,3¢S

8、Ü,3zgÆSÆ,Ù¥óÀ^±Ñ?¿©Ø,S3XSÏ"Øy¢yl"Ǒm©l.©z[6]Ú©?,Ïd,ïÄ

9、?¿^eSÆSXÚ^,ÑÆSÆ¢ylýk½Ǒå{´©.l;©?^´k,ÏÑ8,'u¯ïĤ8¥uØ©óÀ^".Lyapunov{´XÚÌ{.òLyapunov{A^uSÆSXÚ©ÛÂvFÏ2011-06-10¹^FÏ2012-07-25ManuscriptreceivedJune10,2011;acceptedJuly25,2012nÜ,