基于观测器跟踪非一致轨迹的迭代学习控制器设计

Observer-based iterative learning control for non-identical trajectory tracking

针对状态难以直接测量的一类不确定非线性系统,基于状态观测器进行相应的迭代学习控制设计,可实现在给定区间上对变轨迹的全局精确跟踪．当任意两次迭代的目标轨迹完全不同,并且系统状态信息不完全已知时,通过引入能量函数的方法,可以证明随迭代次数增加,跟踪误差渐近收敛至零．仿真结果验证了结果的有效性．

A new iterative learning controller with state estimation is developed for tracking different trajectories in a finite interval. A nonlinear system with uncertainties can be controlled by this scheme. By introducing an energy- like function, the proposed method can achieve asymptotic convergence along learning repetition horizon when the target trajectories of any two consecutive iterations are completely different, and the state information is not fully available. Simulation result demonstrates the effectiveness of the proposed results.