华南理工大学学报（自然科学版）
華南理工大學學報（自然科學版）
화남리공대학학보（자연과학판）
JOURNAL OF SOUTH CHINA UNIVERSITY OF TECHNOLOGY(NATURAL SCIENCE EDITION)
2015年
3期
103-110
,共8页
不确定系统%迭代学习控制%初始状态问题%边界层%类 Lyapunov 方法
不確定繫統%迭代學習控製%初始狀態問題%邊界層%類 Lyapunov 方法
불학정계통%질대학습공제%초시상태문제%변계층%류 Lyapunov 방법
uncertain system%iterative learning control%initial state problem%boundary layer%Lyapunov-like approach
针对一类具有任意初态和非周期有界扰动的不确定非线性时变系统，提出一种基于边界层的迭代学习控制方法，将边界层设计成一个具有剩余宽度的指数衰减函数，通过边界层把任意初态问题转换为零初值迭代学习问题。针对周期和非周期不确定性扰动，分别设计周期项的学习律和非周期项的边界学习律，然后在此基础上给出了迭代学习控制算法。文中给出了相关定理，并应用类 Lyapunov 方法给出了定理的详细证明。仿真结果表明，所提出的算法是有效的，轨迹跟踪误差能收敛到边界层。
針對一類具有任意初態和非週期有界擾動的不確定非線性時變繫統，提齣一種基于邊界層的迭代學習控製方法，將邊界層設計成一箇具有剩餘寬度的指數衰減函數，通過邊界層把任意初態問題轉換為零初值迭代學習問題。針對週期和非週期不確定性擾動，分彆設計週期項的學習律和非週期項的邊界學習律，然後在此基礎上給齣瞭迭代學習控製算法。文中給齣瞭相關定理，併應用類 Lyapunov 方法給齣瞭定理的詳細證明。倣真結果錶明，所提齣的算法是有效的，軌跡跟蹤誤差能收斂到邊界層。
침대일류구유임의초태화비주기유계우동적불학정비선성시변계통，제출일충기우변계층적질대학습공제방법，장변계층설계성일개구유잉여관도적지수쇠감함수，통과변계층파임의초태문제전환위령초치질대학습문제。침대주기화비주기불학정성우동，분별설계주기항적학습률화비주기항적변계학습률，연후재차기출상급출료질대학습공제산법。문중급출료상관정리，병응용류 Lyapunov 방법급출료정리적상세증명。방진결과표명，소제출적산법시유효적，궤적근종오차능수렴도변계층。
For a class of uncertain nonlinear time-varying systems with arbitrary initial states and aperiodic bounded disturbance,an iterative learning control (ILC)method on the basis of boundary layer is presented.In this me-thod,boundary layer is designed as a decaying exponential function with residual width,the arbitrary initial state problem of ILC is transformed into a zero initial state problem by the designed boundary layer,and learning laws of periodic and aperiodic terms are designed for periodic and aperiodic disturbances,respectively.On the basis of these two laws,an ILC algorithm is presented,and the corresponding theorem is given with detail proof through Lyapunov-like approach.Simulated results show that the proposed algorithm is effective and is capable of conver-ging trajectory tracking errors to boundary layer.
