Iterative learning control with guaranteed transient performance

被引：2

作者：

Guan, Hai-Wa ^{[1
,2
]}

Sun, Ming-Xuan ^{[1
]}

Qi, Li-Qiang ^{[1
]}

机构：

[1] College of Information Engineering, Zhejiang University of Technology, Hangzhou, 310023, Zhejiang

[2] Wenzhou Vocational College of Science and Technology, Wenzhou, 325006, Zhejiang

来源：

Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2014年 / 31卷 / 10期

关键词：

Convergence; Iterative learning control; Transient performance; Uncertain nonlinear systems;

D O I：

10.7641/CTA.2014.40199

中图分类号：

学科分类号：

摘要：

For a class of uncertain nonlinear time-varying systems, we present an iterative learning control scheme guaranteeing transient performance bounds. By introducing an error transformation, we convert the problem of guaranteeing transient performance of the tracking error to that of ensuring boundedness of the transformed error. Applying Lyapunov synthesis, we carry out the control design for handling both parametric and nonparametric uncertainties of system dynamics. It is shown that, with the use of fully-saturated learning mechanisms, the system output can completely track the desired trajectory over the entire pre-specified time interval as the number of iteration increases, and the tracking error is confined within the transient performance bounds for each iteration cycle, while the boundedness and the uniform convergence of the transformed error are guaranteed. Simulation results are presented to demonstrate the effectiveness of this learning control method. ©, 2014, South China University of Technology. All right reserved.

引用

页码：1295 / 1301

页数：6

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