| 控制方向未知非线性系统的自适应重复控制 |
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| 引用本文： | 金奎,孙明轩.控制方向未知非线性系统的自适应重复控制[J].控制理论与应用,2012,29(9):1176-1180. |
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| 作者姓名： | 金奎 孙明轩 |
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| 作者单位： | 浙江工业大学信息工程学院,浙江杭州,310023 |
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| 基金项目： | 国家自然科学基金资助项目(60874041, 61174034). |
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| 摘 要： | 针对控制方向未知的、存在周期性非参数不确定性的一类非线性系统,给出零误差跟踪的重复控制方法.引入Nussbaum函数设计自适应重复控制器,参数估计修正律采用完全饱和形式,将参数估计囿于预先给定的范围内.分析表明,闭环系统中所有信号本身有界,且跟踪误差本身趋于零.数值仿真结果验证了算法的有效性.
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| 关 键 词： | Nussbaum函数 非参数不确定性 控制方向 自适应重复控制 |
| 收稿时间： | 3/3/2011 12:00:00 AM |
| 修稿时间： | 2012/3/22 0:00:00 |
Adaptive repetitive control for a class of nonlinear systems with unknown control direction |
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| JIN Kui and SUN Ming-xuan.Adaptive repetitive control for a class of nonlinear systems with unknown control direction[J].Control Theory & Applications,2012,29(9):1176-1180. |
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| Authors: | JIN Kui and SUN Ming-xuan |
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| Affiliation: | College of Information Engineering, Zhejiang University of Technology,College of Information Engineering, Zhejiang University of Technology |
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| Abstract: | We present an adaptive repetitive control for a class of nonlinear systems with periodic nonparametric uncertainties and unknown control direction. This repetitive controller is designed with the aid of Nussbaum function; and the saturation mechanism adopted in the learning algorithm confines the estimated parameters to a pre-determined region. The proposed control method guarantees that all the signals in the closed-loop are bounded and the tracking error converges to zero as time approaches infinity. Numerical simulations are carried out to demonstrate the effectiveness of the presented control scheme. |
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| Keywords: | Nussbaum function non-parametric uncertainties control direction adaptive repetitive control |
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