18 Gua的ngxiConfence.pptVIP

Hybrid Adaptive Iterative Learning Control for Non-uniform Trajectory Tracking Junmin LI Department of Mathematics, Xidian University Background and Significant(1) Background and Significant (2) ILC is an advanced control method based on performance-learning, it can be applied in the repetitive system or systems with period uncertainties Can deal with exactly tracking on [0,T] ILC has supported by rigid mathematic theory Background and Significant (3) Background and Significant(3) ILC strategy: Background and Significant(4) Objective Background and Significant(5) Draws of ILC： The first Markov parameter CB is not zero Desired input is needed Robustness of initial value problem Tracking trajectory is fixed Background and Significant(6) plan： Adaptive control： AC is a control method with parameter learning, which can deal with the parameter uncertainty, so as to implement Asymptotical tracking or regulation Open problems of adaptive control How to improve the dynamical performance? How to design the controller when the systems contain some time-varying parameters？ Background and Significant(7) ILC applied in industrial processes Background and Significant(8) transient processes Background and Significant(9) How to guarantee a good dynamical performance during every dynamical process of industrial processes ? Research problem Hybrid adaptive iterative learning control of non-uniform trajectory tracking for time-varying parameter uncertain system Background and Significant(10) Research approaches Adaptive control approach ILC approach AILC approach Adaptive control approach(1) AC theoru and methods of LS 1. Approaches Based on Stability theory (Narendra, 1989, MRAC，for continuous-time systems) 2. Approaches based module(Goodwin, 1984,STR/STC，for discrete-time systems) Adaptive control approach(2) AC theory and methods of NLS 1. approaches based on universal approximation and stability theory (Narendra, 1990, Franklin, 199