含有参数化和非参数化不确定性系统重复学习控制.pdfVIP

第25 卷 第12 期 控 制 与 决 策 2010 年 12 月 Vol. 25 No. 12 Control and Decision Dec. 2010 文章编号: 1001-0920 (2011) 01-1880-05 含有参数化和非参数化不确定性系统重复学习控制 云利军, 徐天伟, 孙云平 (云南师范大学计算机科学与信息技术学院，昆明650092) 摘 要: 针对含有参数化和非参数化的高阶非线性系统, 设计了一种重复学习控制方案. 假设未知时变参数和参考 信号的共同周期是已知的, 通过参数重组技巧, 将所有未知时变项合并为一个周期时变向量. 将改进Backstepping 方 法与分段积分机制相结合, 构造了微分-差分参数自适应律和重复学习控制律, 使跟踪误差在误差平方范数意义下渐 近收敛于零. 利用Lyapunov 泛函, 给出了闭环系统收敛的充分条件. 仿真结果验证了该方法的有效性. 关键词: 非线性系统；Backstepping 方法；自适应控制；重复学习控制；Lyapunov 泛函 中图分类号: TP273 文献标识码: A Repetitive learning control for nonlinear systems with both parametric and non-parametric uncertainties systems YUN Li-jun, XU Tian-wei , SUN Yun-ping (School of Computer Science and Information Technology，Yunnan Normal University ，Kunming 650092，China. Correspondent ：YUN Li-jun ，E-mail ：yunlj@163.com) Abstract: A repetitive learning control scheme is designed for high-order nonlinear systems with parametric and non- parametric uncertainties. It is assumed that the common periodicity of unknown time-varying parameter and reference signal are known. By regrouping the system parameters, all unknown time-varying terms are combined into a periodically time-varying vector. Combining the modifying backstepping approach with the pointwise integral mechanism, a differential- difference mixed-type 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 of the convergence of the method is given. A simulation example shows the effectiveness of the proposed method. Key words: Nonlinear system ；Backstepping ；Adapt