期刊文献+

基于H_∞方法的鲁棒迭代学习控制器在精密工件台中的应用

APPLICATION OF A ROBUST ITERATIVE LEARNING CONTROLLER USING AN H_∞ APPROACH IN PRECISION WORKPIECE STAGE
下载PDF
导出
摘要 针对精密工件台系统,研究迭代学习控制器(ILC)的设计问题,提出一种基于H∞法的ILC设计方法,分析该方法的可解性,推导出误差收敛的充要条件,并通过此方法将迭代学习控制器的综合问题转化为H∞最(次)优控制器的综合问题。同时介绍一种可明确处理过程不确定性的鲁棒ILC方法,这种ILC算法可使系统的学习性能最大化。精密工件台的实验结果表明所提出的设计方法是有效的。 t The design procedure of iterative learning controller (ILC) was studied aiming at precision workpiece stage system in this paper, and a design method of ILC based on H∞ approach was presented. The solvability of the method was analyzed, and the necessary and sufficient condition of error convergence has been derived. Through the method the synthesis of an iterative learning controller was generalized to the synthesis of an H∞ (sub) optimal controller. In this paper it also introduced a robust ILC method for explicitly dealing with process uncertainty. It allows the designer to maximize the learning performance for a specified class of systems. The practical usefulness of the scheme is verified on a precision workpiece stage experimental setup.
出处 《计算机应用与软件》 CSCD 2009年第10期152-154,161,共4页 Computer Applications and Software
关键词 迭代学习控制 鲁棒性 精密工件台 H∞综合 学习性能 Iterative learning controller Robustness Precision stage H∞ synthesis Learning performance
  • 引文网络
  • 相关文献

参考文献10

  • 1Park E C, Lim H, Choi C H. Position control of x-y table at velocity reversal using prestiding friction characteristics [ J ]. Control Systems Technology, IEEE Transactions on ,2003,11 ( 1 ) : 24 - 31.
  • 2Dejima S, Gao W, Katakura K, et al. Dynamic modeling, controller design and experimental validation of a planar motion stage for precision positioning[J]. Precision Engineering, 2005, 29:263 -271.
  • 3雷勇,陈本永,杨元兆,张丽琼,王俊茹,冯平.纳米级微动工作台的研究现状及发展趋势[J].浙江理工大学学报(自然科学版),2006,23(1):72-75. 被引量:7
  • 4刘俊标,薛虹,顾文琪.微纳加工中的微动工件台技术[M].北京:北京工业大学出版社,2004.
  • 5Bristow D A, Marina T, Andrew G A. A survey of iterative learning control : A learning-based method forhigh- performance tracking control [ J ]. IEEE Control Systems Magazine, 2006,6 ( 3 ) :96 - 114.
  • 6Chin I, Qin S J, Lee K S. A two-stage iterative learning control technique combined with real-time feedback for independent disturbance rejection [ J]. Automatica, 2004, 40( 11 ) : 1913 - 1920.
  • 7Chen C K, James H W. PD-type iterative learning control for trajectory tracking of a pneumatic X-Y table with disturbances[ C ]. Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004,30 (6) :3500 - 3505.
  • 8Levoci P A, Longman R W. Frequency domain prediction of final error due to noise in learning and repetitive control [ J ]. Advances in the Astronautical Sciences, 2002, 112 (2) : 1341 - 1359.
  • 9Chen Y Q, Moore K L. A practical iterative learning path-following control of an omni-directional vehicle [ J ]. Asian Journal of Control, 2002,4 ( 1 ) :90 - 98.
  • 10Zhou K M, Doyle J C, Glover K. Robust and Optimal Control [ M ]. New Jersey: Prentice Hall, 1996.

二级参考文献16

共引文献6

;
使用帮助 返回顶部