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控制方向未知非线性系统的自适应重复控制 被引量：6

Adaptive repetitive control for a class of nonlinear systems with unknown control direction
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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. We present an adaptive repetitive control for a class of nonlinear systems with periodic nonparametric uncer- tainties 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.
作者 金奎 孙明轩
机构地区 浙江工业大学信息工程学院
出处 《控制理论与应用》 EI CAS CSCD 北大核心 2012年第9期1176-1180,共5页 Control Theory & Applications
基金 国家自然科学基金资助项目(60874041 61174034)
关键词 NUSSBAUM函数 非参数不确定性 控制方向 自适应重复控制 Nussbaum function non-parametric uncertainties control direction adaptive repetitive control
分类号 TP273.2 [自动化与计算机技术—检测技术与自动化装置]
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参考文献15

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二级参考文献21

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共引文献12

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二级引证文献10

控制理论与应用
2012年 第9期

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