具有轨迹偏移的自适应迭代学习控制

Adaptive iterative learning control with trajectory shift

为解决迭代学习控制中的轨迹偏移问题,提出一种自适应迭代学习控制策略。针对参数未知的线性时变系统,通过求解二次规划问题构建参数自适应更新算法;将估计的参数信息和具有偏移的轨迹信息引用到迭代学习控制策略的设计当中,形成一种自适应迭代学习控制策略。结果表明:参数的估计误差是有界的,并且在轨迹偏移有界的前提下系统的跟踪误差也有界。数值仿真验证了所提出的自适应迭代学习控制策略的有效性和实用性。

In order to solve the problem of trajectory shift in iterative learning control,an adaptive iterative learning control strategy was proposed.For linear time-varying systems with unknown parameters,an adaptive parameter updating algorithm was constructed by solving a quadratic programming problem.The estimated parameter information and trajectory information with shift were used to design an adaptive iterative learning control strategy.The results show that the estimation error of parameters is bounded,and the tracking error of the system is bounded when the trajectory shift is bounded.The effectiveness and practicability of the proposed adaptive iterative learning control strategy are verified by numerical simulation.