摘要
仅利用系统的终端输出误差而不是整个输出轨迹,提出了一种最优终端迭代学习控制方法.控制信号可直接通过终点的误差信息进行更新.主要创新点在于控制器的设计和分析只利用系统量测的I/O数据而不需要关于系统模型的任何信息,并可实现沿迭代轴的单调收敛.在此意义上,所提出的控制器是数据驱动的无模型控制方法.严格的数学分析和仿真结果均表明了所提出方法的适用性和有效性.
This paper presents an optimal terminal iterative learning control（TILC） approach by considering only the terminal output tracking error instead of the whole output trajectory tracking error.The control signal is directly updated from the error information of the given final terminal point.The key contributions of the presented optimal terminal iterative learning control（ILC） is that the controller design and analysis only uses the measured I/O data without any modeling information of the plant and the monotonic convergence is guaranteed.In this sense,the proposed controller is a datadriven approach.Both rigorous mathematical analysis and simulation results illustrate the applicability and effectiveness of the proposed approach.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2012年第8期1025-1030,共6页
Control Theory & Applications
基金
supported by National Science Foundation of China(Nos.60974040,60834001,61120106009)
the Research Award Foundation for the Excellent Youth Scientists of Shandong Province of China(No.BS2011DX010)
the Fundamental Research Funds for the Central Universities(No.2011JBM201)
关键词
终端迭代学习控制
最优设计
数据驱动控制
非线性系统
terminal iterative learning control（ILC）
optimality-based design
data-driven control
nonlinear systems
