Please wait a minute...
浙江大学学报(工学版)
自动化技术、信息技术     
目标轨迹更新的点到点鲁棒迭代学习控制
安通鉴,刘祥官
浙江大学 数学系,浙江 杭州 310027
Point-to-point robust iterative learning control via reference trajectory regulating
AN Tong-jian, LIU Xiang-guan
Department of Mathematics, Zhejiang University, Hangzhou 310027, China
 全文: PDF(655 KB)   HTML
摘要:

为了获得更快的算法收敛速度,提出易于操作的插值法来更新目标轨迹.该方法易于选择参数,有更好的泛化性能并为控制算法的设计提供灵活性.采用有更广泛收敛域、能够更好地抵消噪声影响的P型闭环迭代学习控制.对于有初始状态扰动的情况,新算法结合了P型闭环迭代学习控制与插值法轨迹更新,收敛性和鲁棒性得到理论证明.数值仿真验证了新算法比固定目标轨迹算法和P型开环迭代学习控制更有优势.

Abstract:

An interpolating algorithm was proposed to regulate reference trajectory in order to achieve faster convergence rate. The algorithm has the character that choosing parameter more intuitively and not relating to specific ILC algorithm. P-type current cycle ILC was utilized because the predominant performance such as more wide convergence interval and better robustness. The new algorithm combines current cycle ILC and reference trajectory regulating to absorb both of their advantages. The convergence and robustness of the algorithm were rigorously analyzed. Numerical simulations verified the new algorithms superiority over fixed reference trajectory and open-loop ILC.

出版日期: 2018-06-06
:  O 231  
基金资助:

国家自然科学基金资助项目(11271326)

通讯作者: 刘祥官,男,教授,博导     E-mail: xgliu@zju.edu.cn
作者简介: 安通鉴(1987-),男,博士生,从事复杂工业过程的优化控制研究. E-mail: antj01@163.com
服务  
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章  

引用本文:

安通鉴,刘祥官. 目标轨迹更新的点到点鲁棒迭代学习控制[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2015.01.013.

AN Tong-jian, LIU Xiang-guan. Point-to-point robust iterative learning control via reference trajectory regulating. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2015.01.013.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2015.01.013        http://www.zjujournals.com/eng/CN/Y2015/V49/I1/87

[1] PARK J, CHANG P H, PARK H S, et al. Design of learning input shaping technique for residual vibration suppression in an industrial robot [J]. IEEE/ASME Transactions on Mechatronics, 2006, 11(1): 55-65.
[2] ARIMOTO S, KAWAMURA S, MIYAZAKI F. Bettering operation of robots by learning [J]. Journal of Robot System, 1984, 1(2): 123-140.
[3] BRISTOW D A, THARAYIL M, ALLEYNE A G. A survey of iterative learning control a learning-based method for high-performance tracking control [J]. IEEE Control Systems Magazine, 2006, 26(3): 96-114.
[4] AHN H S, CHEN Y, MOORE K L. Iterative learning control: brief survey and categorization [J]. IEEE Transactions on System Man and Cybernetics Part C: Applications and Reviews, 2007, 37(6): 1099-1121.
[5] DING H, WU J. Point-to-point control for a high-acceleration positioning table via cascaded learning schemes [J]. IEEE Transactions on Industrial Electronics, 2007, 54(5): 2735-2744.
[6] WIJDEVEN J V, BOSGRA O. Residual vibration suppression using hankel iterative learning control [J]. International Journal of Robust and Nonlinear Control, 2008, 18(1): 1034-1051.
[7] GAUTHIER G, BOULET B. Terminal iterative learning control design with singular value decomposition decoupling for thermoforming ovens [C]∥Proceedings of American Control Conference. St. Louis: IEEE, 2009: 1640-1645.
[8] XU J X, HUANG D. Initial state iterative learning for final state control in motion systems [J]. Automatica, 2008, 44(12): 3162-3169.
[9] FREEMAN C T, CAI Z L, ROGERS E, et al. Iterative learning control for multiple point-to-point tracking application [J]. IEEE Transactions on Control Systems Technology, 2011, 19(3): 590-600.
[10] FREEMAN C T, TAN Y. Iterative learning control with mixed constraints for point-to-point tracking [J]. IEEE Transactions on Control Systems Technology, 2013, 21(3): 604-616.
[11] SUN M X, WANG D W. Closed-loop iterative learning control for non-linear systems with initial shifts [J]. International Journal of Adaptive Control and Signal Processing, 2002, 16(2): 515-538.
[12] 曾南,应行人. 非线性系统迭代学习控制算法[J]. 自动化学报,1992,18(2):168176.
ZENG Nan, YING Xing-ren. Iterative learning control algorithm for nonlinear dynamic system [J]. ACTA Automatica Sinica, 1992, 18(2): 168-176.
[13] XU J X, WANG X W, HENG L T. Analysis of continuous iterative learning control systems using current cycle feedback [C]//Proceedings of American Control Conference. Seattle: IEEE, 1995: 4221-4225.
[14] CHIEN C J, LIU J S. A P-type iterative learning controller for robust output tracking of nonlinear time-varying systems [J]. International Journal of Control, 1996, 64(2): 319-334.
[15] WANG D W. Convergence and robustness of discrete time nonlinear systems with iterative learning control [J]. Automatica, 1998, 34(11): 1445-1448.
[16] TAN K K, HUANG S N. A discrete-time iterative learning algorithm for linear time-varying systems [J]. Engineering Applications of Artificial Intelligence, 2003, 16(1): 185-190.

No related articles found!