摘要
针对不确定的线性系统,研究鲁棒梯度型迭代学习控制的设计问题.通过分析系统不确定性对反馈闭环控制和前馈学习控制的影响,给出了保证迭代学习控制在有限时间段上鲁棒收敛的充分条件.依据此条件,将迭代学习控制的设计问题转化为H∞设计问题,提出了一种兼具反馈与前馈作用的鲁棒迭代学习控制律.迭代学习控制的设计过程分为两步进行:先基于H∞方法设计反馈控制器,再采用固定步长的梯度法设计前馈控制器.仿真结果表明了该设计方法的可行性.
Robust gradient-type iterative learning control (ILC) was studied for a class of uncertain linear systems. A sufficient condition to ensure the robust convergence of the ILC process in the finite time interval was obtained by analyzing the plant uncertainty's effects on feedback and feedforward control. A robust ILC law with both feedback and feedforward was obtained by reformulating the ILC design problem as an H∞ synthesis problem based on the above condition. The ILC design procedure has two steps: first, the feedback controller is synthesized based on the H∞ approach; then the feedforward controller is designed by the gradient method with fixed step size. The presented simulation example verified the feasibility of the proposed design procedure.
出处
《浙江大学学报（工学版）》
EI
CAS
CSCD
北大核心
2004年第3期257-261,共5页
Journal of Zhejiang University：Engineering Science
基金
国家"863"高技术研究发展计划资助项目(2002AA412010)
国家自然科学基金资助项目(69874035).
关键词
迭代学习控制
H∞综合
梯度法
不确定线性系统
Design
Feedback control
Gradient methods
Iterative methods
Linear systems
Robustness (control systems)
