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离散线性系统有限频域基于观测器的迭代学习控制

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针对一类离散线性系统,在有限频域范围内研究基于观测器的迭代学习控制问题.首先,结合二维系统理论,构建由基于观测器的状态反馈和PID型前馈学习项组成的控制器;然后,借助于广义Kalman-Yakubovich-Popov(KYP)引理,将闭环系统有限频域性能规范转换为相应的线性矩阵不等式(LMI),进而得到控制器和观测器存在的充分条件,同时,该条件也确保闭环控制系统的稳定性和跟踪误差单调收敛性;最后,通过桁架机器人系统的仿真,验证所提出设计方法的有效性.
Observer-based iterative learning control for discrete linear systems in finite frequency domains
For a class of discrete linear systems,this paper deals with the problem of designing an observer-based iterative learning control scheme in the finite frequency range.First,the controller is constructed by combining an observer-based state feedback with a PID-type feedforward learning term on the basis of the two-dimensional system theory.Then,by means of the Kalman-Yakubovich-Popov(KYP)lemma,the finite frequency domain specifications of the resulting closed-loop system are transformed into corresponding linear matrix inequalities(LMI),furthermore,the sufficient conditions for the existence of the controller and the observer are also obtained.Simultaneously,these conditions guarantee the stability of the close-loop controlled system and the monotonic convergence of the tracking error.Finally,the effectiveness of the proposed method is verified by the simulation of a gantry robot.

iterative learning controldiscrete linear systemsfinite frequency rangeobserver-based state feedbackgeneralized Kalman-Yakubovich-Popov lemma

邹伟、沈艳霞

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江南大学物联网技术应用教育部工程研究中心,江苏无锡 214122

迭代学习控制 离散线性系统 有限频域范围 基于观测器的状态反馈 广义KYP引理

国家自然科学基金国家自然科学基金江苏省研究生科研与实践创新计划

6157316761572237KYCX20_1771

2024

10.13195/j.kzyjc.2022.1705

控制与决策
东北大学

控制与决策

CSTPCD北大核心
影响因子：1.227
ISSN：1001-0920
年,卷(期)：2024.39(5)
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