摘要
对于一类含有未知控制方向的时滞非线性系统,利用完全饱和函数设计了自适应迭代学习控制算法。采用信号置换思想处理系统中出现的时滞项。采用Nussbaum增益技术解决未知控制方向等问题。针对系统中出现的未知时变和时不变参数耦合的不确定性问题,设计了微分差分耦合参数学习律。将系统中引入的外部有界干扰合并到1个未知时变参数向量中,再利用完全饱和自适应方法进行估计。结合构造的Lyapunov-Krasovskii复合能量函数对系统进行了收敛性分析,证明了系统状态输出沿着迭代方向对期望输出的渐近跟踪及闭环系统中所有信号的有界性。仿真实验验证了该文控制算法的有效性。
An adaptive iterative learning control algorithm is designed by using fully saturated function for a nonlinear system with unknown control direction and unknown time-varying delay. The existing unknown time-varying delay is resolved by signal replacement mechanism. The lack of a priori knowledge of the control direction is dealt with by the Nussbaum-gain technique. Differential and difference coupling parameter updating laws are proposed for the estimates of the unknown time-varying parameters and the constant parameters. The external bounded interference in the system is merged into an unknown parameter vector and estimated by a fully saturated adaptive method. The convergence of the system is analyzed by the constructed Lyapunov-Krasovskii composite energy function. It is verified that the state of the system output can track the desired output asymptotically along the iteration axis and all signals in the closed-loop system are bounded. A simulation example verifies the effectiveness of the proposed control method.
出处
《南京理工大学学报》
EI
CAS
CSCD
北大核心
2015年第6期661-667,679,共8页
Journal of Nanjing University of Science and Technology
关键词
未知控制方向
非线性系统
变时滞系统
自适应迭代学习控制
完全饱和函数
信号置换
微分差分耦合参数
unknown control direction
nonlinear system
time-varying delay system
adaptive iterative learning control
fully saturated function
signal replacement
differential and difference coupling parameter
