含时变延迟且控制方向未知的自适应迭代学习

doi:10.19678/j.issn.1000-3428.0055513

计算机工程 ›› 2020, Vol. 46 ›› Issue (7): 312-320. doi: 10.19678/j.issn.1000-3428.0055513

• 开发研究与工程应用 • 上一篇

含时变延迟且控制方向未知的自适应迭代学习

夏元天, 周菊香, 徐天伟

云南师范大学民族教育信息化教育部重点实验室, 昆明 650000

收稿日期:2019-07-18 修回日期:2019-09-10 发布日期:2019-09-20
作者简介:夏元天(1990-),男,硕士研究生,主研方向为智能控制、机器学习;周菊香(通信作者),助理研究员、博士;徐天伟,教授、博士、博士生导师。
基金资助:
国家自然科学基金（61862068）。

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

XIA Yuantian, ZHOU Juxiang, XU Tianwei

Key Laboratory of Education Informatization for Nationalities Ministry of Education, Yunnan Normal University, Kunming 650000, China

Received:2019-07-18 Revised:2019-09-10 Published:2019-09-20

摘要/Abstract

摘要： 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。

关键词: 未知控制方向, 非线性系统, 时变延迟, 自适应迭代学习, 微分差分耦合型参数, Nussbaum增益技术

Abstract: 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.

Key words: unknown control direction, nonlinear system, time-varying delay, adaptive iterative learning, differential and difference coupling parameter, Nussbaum gain technique

中图分类号:

TP273

夏元天, 周菊香, 徐天伟. 含时变延迟且控制方向未知的自适应迭代学习[J]. 计算机工程, 2020, 46(7): 312-320.

XIA Yuantian, ZHOU Juxiang, XU Tianwei. Adaptive Iterative Learning with Time-Varying Delay and Unknown Control Direction[J]. Computer Engineering, 2020, 46(7): 312-320.

https://www.ecice06.com/CN/Y2020/V46/I7/312

参考文献

[1] QU Zhihua,XU Jianxin.Model based learning control and their comparisons using Lyapunov direct method[J].Asian Journal of Control,2002,4(1):99-110.
[2] XU Jianxin.The frontiers of iterative learning control-part Ⅱ[J].Journal of Systems Control and Information,2002,45(5):233-243.
[3] XU Jianxin,TAN Ying.A composite energy function-based learning control approach for nonlinear systems with time-varying parametric uncertainties[J].IEEE Transactions on Automatic Control,2002,47(11):1940-1945.
[4] DIXON W E,ZERGEROGLU E,DAWSON D M,et al.Repetitive learning control:a Lyapunov-based approach[J].IEEE Transactions on Systems,Man,and Cybernetics:Part B,2002,32(4):538-545.
[5] XU Jianxin,YAN Rui.On repetitive learning control for periodic tracking tasks[J].IEEE Transactions on Automatic Control,2006,51(11):1842-1848.
[6] CHIEN C J,HSU C T,YAO C Y.Fuzzy system-based adaptive iterative learning control for nonlinear plants with initial state errors[J].IEEE Transactions on Fuzzy Systems,2004,12(5):724-732.
[7] TAYEBI A.Adaptive iterative learning control for robot manipulators[J].Automatica,2004,40(7):1195-1203.
[8] PARK K H,HWANG D H,BIEN Z.Design of an iterative learning controller for a class of linear dynamic systems with time delay[J].IEE Proceedings-Control Theory and Applications,1998,145(6):507-512.
[9] CHEN Yangquan,GONG Zhiming,WEN Changyun.Analysis of a high-order iterative learning control algorithm for uncertain nonlinear systems with state delays[J].Automatica,1998,34(3):345-353.
[10] WANG M,GE S S.Approximation-based adaptive tracking control of pure-feedback nonlinear systems with multiple unknown time-varying delays[J].IEEE Transactions on Neural Networks,2010,21(11):1804-1816.
[11] YU Z,JIN Z,DU H.Adaptive neural control for a class of non-affine stochastic non-linear systems with time-varying delay:a Razumikhin-Nussbaum method[J].IET Control Theory & Applications,2012,6(1):14-23.
[12] ZHANG Ruikun,HOU Zhongsheng,CHI Ronghu,et al.Adaptive iterative learning control for nonlinearly parameterised systems with unknown time-varying delays and input saturations[J].International Journal of Control,2015,88(6):1133-1141.
[13] ZHAI Ding,XI Changjiang,DONG Jiuxiang,et al.Adaptive fuzzy fault-tolerant tracking control of uncertain nonlinear time-varying delay systems[J].IEEE Transactions on Systems,Man,and Cybernetics:Systems,2020,50(5):1840-1849.
[14] WEI Jianming,ZHANG Youan,SUN Meimei,et al.Adaptive iterative learning control of a class of nonlinear time-delay systems with unknown backlash-like hysteresis input and control direction[J].ISA Transactions,2017,70:79-92.
[15] ZHANG Ruikun,HOU Zhongsheng,CHI Ronghu,et al.Adaptive iterative learning control for nonlinearly parameterised systems with unknown time-varying delays and input saturations[J].International Journal of Control,2015,88(6):1133-1141.
[16] CHEN Weisheng,ZHANG Li.Adaptive iterative learning control for nonlinearly parameterized systems with unknown time-varying delays[J].International Journal of Control,Automation and Systems,2010,8(2):177-186.
[17] NUSSBAUM R D.Some remarks on a conjecture in parameter adaptive control[J].Systems & Control Letters,1983,3(5):243-246.
[18] YU Miao,YE Xudong,QI Donglian.Robust adaptive repetitive learning control for a class of time-varying nonlinear systems with unknown control direction[J].Journal of Control Theory and Applications,2013,11(3):336-342.
[19] YANG Z Y,YAM S C P,LI L K,et al.Universal repetitive learning control for nonparametric uncertainty and unknown state-dependent control direction matrix[J].IEEE Transactions on Automatic Control,2010,55(7):1710-1715.
[20] TIAN Baijun,LIU Zhengjiang,ZHENG Yunfeng.Robust λ adaptive control for uncertain ship course keeping with unknown control direction[J].Control and Decision,2016,31(11):2059-2064.(in Chinese)田佰军,刘正江,郑云峰.控制方向未知条件下不确定船舶航向鲁棒λ调节控制[J].控制与决策,2016,31(11):2059-2064.
[21] LI Guangyin,YANG Yang.Learning control for nonlinear systems with unknown control direction and unknown time-varying delay[J].Control Theory & Applications,2016,33(2):265-272.(in Chinese)李广印,杨扬.含有未知控制方向的非线性时滞系统学习控制[J].控制理论与应用,2016,33(2):265-272.
[22] JANSSENS P,PIPELEERS G,SWEVERS J.A data-driven constrained norm-optimal iterative learning control framework for LTI systems[J].IEEE Transactions on Control Systems Technology,2013,21(2):546-551.
[23] YAN Weili,SUN Mingxuan.Adaptive iterative learning control of discrete-time varying systems with unknown control direction[J].International Journal of Adaptive Control and Signal Processing,2013,27(4):340-348.
[24] WANG Yongchao,ZHANG Shengxiu,CAO Lijia,et al.Adaptive fuzzy backstepping control for nonlinear system with unknown control direction and input saturation[J].Systems Engineering and Electronics,2016,38(9):2149-2155.(in Chinese)王永超,张胜修,曹立佳,等.控制方向未知的输入受限非线性系统自适应模糊反步控制[J].系统工程与电子技术,2016,38(9):2149-2155.
[25] SHEN Dong,WANG Youqing.ILC for networked nonlinear systems with unknown control direction through random Lossy channel[J].Systems & Control Letters,2015,77:30-39.
[26] WANG Chunxiao,WU Yuqiang.Robust adaptive tracking control for full state-constrained nonlinear systems with unknown control direction[J].Control Theory & Applications,2018,35(2):153-161.(in Chinese)王春晓,武玉强.控制方向未知的全状态约束非线性系统的鲁棒自适应跟踪控制[J].控制理论与应用,2018,35(2):153-161.
[27] MA Jianjun,ZHENG Zhipeng,LI Peng.Adaptive dynamic surface control of a class of nonlinear systems with unknown direction control gains and input saturation[J].IEEE Transactions on Cybernetics,2015,45(4):728-741.
[28] LIU Baobin,ZHOU Wei.A high-order internal model based on robust adaptive iterative learning control design[J].Control Engineering of China,2018,25(5):770-776.(in Chinese)刘保彬,周伟.基于高阶内模的鲁棒自适应迭代学习控制[J].控制工程,2018,25(5):770-776.
[29] XU Jianxin,YAN Rui.Iterative learning control design without a priori knowledge of the control direction[J].Automatica,2004,40(10):1803-1809.

选择文件类型/文献管理软件名称

选择包含的内容

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

RichHTML

PDF

可视化

被引次数

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 7

编辑推荐

Metrics

本文评价

[1]	张建强, 杨凯军, 欧阳凌丛. 具有规定性能的多智能体动态事件触发编队控制[J]. 计算机工程, 2024, 50(3): 78-88.
[2]	闫帅明, 卜旭辉, 朱盼盼, 梁嘉琪. 一种数据丢包情况下的交叉口排队长度均衡控制方法[J]. 计算机工程, 2021, 47(1): 21-29.
[3]	付华,訾海. 基于ASGSO-ENN算法的瓦斯涌出量动态预测模型[J]. 计算机工程, 2015, 41(7): 317-321.
[4]	杨垚,陆永中,黄金才,刘忠,包卫东. 基于逻辑触发的异质网络体系能力分析[J]. 计算机工程, 2015, 41(6): 263-268.
[5]	马卫国，杨忠. 网络化非线性系统的非脆弱H∞控制[J]. 计算机工程, 2013, 39(11): 68-73.
[6]	邬开俊，王铁君. 基于RBF神经网络优化的混沌时间序列预测[J]. 计算机工程, 2013, 39(10): 208-211.
[7]	李萍;吴乐南. 基于MFLNN的变参数非线性系统辨识[J]. 计算机工程, 2006, 32(20): 201-202.

模态框（Modal）标题

选择文件类型/文献管理软件名称

选择包含的内容

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

RichHTML

PDF

可视化

被引次数

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 7

编辑推荐

Metrics

本文评价