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针对带有扰动的一类离散非线性系统的鲁棒迭代学习控制问题,设计一种基于参数优化的迭代学习控制算法.该算法能够保证在有初始状态误差和状态、输出扰动的情况下使闭环系统具有鲁棒BIBO稳定性,系统输出能够单调收敛于给定输出轨迹的邻域内;在没有初始状态误差和扰动的情况下能够以零稳态误差跟踪给定输出轨迹.最后通过仿真分析验证了所提出算法的有效性.
In order to solve the robust iterative learning control problem for a class of discrete-time nonlinear systems with perturbation, an iterative learning control algorithm based on parameter optimization is designed. This algorithm can guarantee closed loop (closed loop) with initial state error and state and output disturbance The system has robust BIBO stability and the output of the system can monotonously converge to the neighborhood of a given output trajectory. The output trajectory can be tracked with zero steady-state error without initial state error and disturbance. Finally, The effectiveness of the proposed algorithm.