摘要
针对含有时变和时不变未知参数的二阶非线性系统,结合Backstepping方法,提出了一种新的自适应重复学习控制方法,可处理参数在一个未知紧集内周期性快时变的非线性系统.通过引入参数周期自适应律,设计出的自适应控制策略,使跟踪误差平方在一个周期上的积分范数渐近收敛于零.通过构造Lyapunov函数,给出了闭环系统收敛的一个充分条件.
A novel adaptive repetitive learning control for second-order nonlinear systems with time-varying and time-invariant parameters is proposed by using the Baekstepping approach. It can be applied to the time-varying parametric uncertainty systems with an unknown compact set, which are non-vanishing, rapid time-varying, and periodic and where the prior knowledge is the periodicity only. A periodic mixed adaptive law and an adaptive repetitive learning control one are constructed to ensure the asymptotic convergence of the tracking error in the sense of square error norm. Also, a sufficient condition for the convergence of the method is given. A simulatioin example illustrates the effectiveness and the feasibility of the proposed method.
出处
《西安电子科技大学学报》
EI
CAS
CSCD
北大核心
2006年第3期495-499,共5页
Journal of Xidian University
基金
国家自然科学基金资助项目(60374015)
