含时变延迟且控制方向未知的自适应迭代学习

Adaptive Iterative Learning with Time-Varying Delay and Unknown Control Direction

针对时变未知控制方向以及时变延迟对具有时变未知控制方向的非线性时变延迟系统造成的影响,提出一种自适应迭代学习的控制方法。利用局部Lipschitz连续条件,通过导入微分-差分耦合型参数更新定律,并结合Nussbaum增益技术以及信号替换和重组的技术思想,得到一种新的控制方案,并在理论上证明了跟踪误差的敛散性以及系统中各个信号的有界性。仿真实验验证了理论推导的正确性,同时说明了该系统在时效上的优越性和可行性。

To address the influence of time-varying unknown control direction and time-varying delay on the nonlinear time-varying delay system with time-varying unknown control direction,this paper proposes a control method for adaptive iterative learning.The method uses the local Lipschitz continuity condition to introduce the differential and difference coupling parameters to update the law.Then based on the Nussbaum gain technique and the idea of signal replacement and recombination,a new control scheme is obtained.The convergence and divergence of the tracking error,and the boundedness of each signal in the system are theoretically proven.Simulation experiments demonstrate the correctness of the theoretical derivation,and show the excellent timeliness of the system.