摘要
针对一类单输入单输出不确定非线性重复跟踪系统 ,提出一种基于完全未知控制增益的自适应迭代反馈控制 .与普通迭代学习控制需要学习增益稳定性前提条件不同 ,所提自适应迭代反馈控制律通过不断修改Nuss baum形式的反馈增益达到收敛 .证明当迭代次数i→δ时 ,重复跟踪误差可一致收敛到任意小界δ .仿真显示了所提控制方法的有效性 .
An adaptive iterative feedback control approach was proposed for a class of single-input, single-output uncertain nonlinear systems with completely unknown control gain. Unlike the ordinary iterative learning control which required some preconditions of stability on the learning gain, the adaptive iterative feedback control achieved the convergence through an unknown feedback gain in a Nussbaum-type function. It was proved that the repetitive tracking error sequence was asymptotic to the interval ([-δ,δ]) for arbitrary prescribed δ>0 when iterations go to infinity. Simulation is carried out to show the validity of the proposed method.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2003年第5期691-694,共4页
Control Theory & Applications
基金
supportedbytheNationalNaturalScienceFoundationofChina (60 175 0 2 8) .
