迭代扩张状态观测器及其在迭代学习控制中的应用-控制与决策.pdfVIP

第30 卷 第3 期 控 制 与 决 策 2015 年 3 月 Vol. 30 No. 3 Control and Decision Mar. 2015 文章编号: 1001-0920 (2015) 03-0473-06 DOI: 10.13195/j.kzyjc.2013.1765 迭代扩张状态观测器及其在迭代学习控制中的应用 李向 阳 (华南理工大学自动化科学与工程学院，广州510641) 摘 要: 针对一类迭代学习控制(ILC) 系统的不确定项, 根据时域中扩张状态观测器的思想, 提出迭代域中线性迭代 扩张状态观测器(LIESO), 该线性迭代扩张状态观测器可以利用迭代过程的跟踪误差给出迭代学习控制系统的不确 定项的显式估计. 给出了基于该估计的迭代学习控制算法, 并应用类Lyapunov 方法证明其收敛性. 仿真结果表明, 所 提出的迭代学习控制算法是有效的, 应用迭代扩张状态观测器可以大幅度提高迭代学习效率. 关键词: 扩张状态观测器；迭代学习控制；迭代扩张状态观测器；类Lyapunov 方法 中图分类号: TP273 文献标志码: A Iterative extended state observer and its application in iterative learning control LI Xiang-yang (College of Automation Science and Engineering，South China University of Technology，Guangzhou 510641, China ．E-mail ：xyangli@scut.edu.cn) Abstract: For the uncertainty in a class of iterative learning control(ILC) systems, a linear iterative extended state observer(LIESO) in the iterative domain is presented based on the thought of extended state observer in time domain. This LIESO can estimate explicitly the uncertainty of the ILC system according to the tracking error during the process of iterations. The ILC algorithm based on the estimation of the uncertainty is presented, whose convergence is proved by using Lyapunov-like approach. Simulation results show the effectiveness of the proposed ILC algorithm and the iterative learning efficiency can be improved so much by using LIESO. Keywords: extended state observer ；iterative learning control ；iterative extended state observer ；Lyapunov-like approach 0 引引引 言言言 1 问问问题题题描描描述述述 迭代学习控制(ILC) 适合具有重复运动性质的