摘要
针对一类含有时变和时不变参数的二阶非线性系统,利用Backstepping方法,提出了一种新的自适应迭代学习控制方法,该方法由微分-差分型自适应律和学习控制律组成,保证对非一致目标的跟踪误差的平方在一个有限区间上的积分收敛于零,克服了传统的迭代学习控制对目标轨线的限制,可以跟踪非一致目标轨线。通过构造复合能量函数,给出了闭环系统收敛的一个充分条件。仿真结果说明了该方法的可行性和有效性。
A novel adaptive iterative learning control approach is proposed for second-order hybrid parametric nonlinear systems, by means of backstepping method. The approach consists of a differential-deference type updating law and a learning control law, which can deal with the non-uniform trajectory tracking problem, and avoids the restriction on the tracking trajectory in the traditional ILC. A sufficient condition for tracking error converging to zero in terms of mean-square on the finite interval is also given by constructing a novel composite energy function, the simulation example shows the feasibility and efficiency of the approach.
出处
《工程数学学报》
CSCD
北大核心
2008年第1期10-16,共7页
Chinese Journal of Engineering Mathematics
基金
国家自然科学基金(60374015)
