欠控制方向的非线性系统自适应迭代学习控制

针对控制方向未知且具有周期扰动的非匹配非线性系统, 提出了一种自适应迭代学习控制策略. 控制算法具有以下3个特点:不需要控制方向的先验知识; 能够对系统的周期不确定性进行在线学习; 能够克服系统的非匹配不确定性. 随着迭代学习次数的增加, 系统跟踪误差渐近收敛于零. 仿真结果表明了控制算法的可行性和有效性.

Adaptive Iterative Learning Control of Nonlinear Systems with Unknown Control Direction

An adaptive iterative learning control scheme is proposed for a class of mismatched nonlinear systems with periodic uncertainties and unknown control directions. The control algorithm has the following three features;the control method does not need control direction information; the periodic uncertainties are learned online by a learning control method; and the algorithm can deal with mismatched uncertainties. The proposed method can achieve asymptotical convergence along a learning repetition horizon. A simulation example is provided can demonstrate the effectiveness and feasibility of the control strategy.