非线性时变系统鲁棒重复学习控制_金奎.pdfVIP

Proceedings of the 29th Chinese Control Conference July 29-31, 2010, Beijing, China öÇ5ûCX⁄ïESõõ 1 1 2 7ø , öZ , ì[r 1. ˙ÙÛíåEÛß, …310023 E-mail: mxsun@zjut.edu.cn 2. HÆ ò Uågƒz, HÆ210016 £ á: ESõõXSìSõõò=á¶S˛˜vE5, qîEõõòÿIÈ$1X⁄?1ò †ˆä, £;SìSõõ•–©ÿØK, ”û¶EõõA^âå±Ì2ÈòaöÎÍzÿ(ö Ç5X⁄, â—ò´kÅäí´m˛ïESõõÏO |^õõÏ•ï‹©y4ÇX⁄§kC˛k., ES‹©åkûÿX⁄ãlÿ©©O?ÿ‹©ÅÃÜÅÃS¸´ú/, â—4ÇX⁄5⁄ ¬Ò5nÿ©¤Íäï˝yé{k5 Öc: ESõõ, ïõõ, Lyapunov-likeê{, öÎÍzÿ(5 Robust Repetitive Learning Control for a Class of Time-varying Nonlinear Systems 1 1 2 JIN Kui , SUN Mingxuan , YE Yongqiang 1. College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023, P.R.China E-mail: mxsun@zjut.edu.cn 2. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, P.R.China Abstract: Repetitive learning control only requires that the learned variables satisfy the repetitive condition like iterative learning control, and does not require repositioning like repetitive control, which avoids the initial repositioning in iterative learning control and extends the applicability of repetitive control. A robust repetitive learning control is proposed for a class of nonlinear systems with non-parametric uncertainties. The robust control part is used to guarantee all the variables in the closed-loop system to be bounded, and the repetitive learning control part can effectively eliminate the tracking error. The stability in the closed-loop and asymptotic convergence of the tracking error are established, respectively, for bo