首页|Noise-Tolerant ZNN-Based Data-Driven Iterative Learning Control for Discrete Nonaffine Nonlinear MIMO Repetitive Systems

Noise-Tolerant ZNN-Based Data-Driven Iterative Learning Control for Discrete Nonaffine Nonlinear MIMO Repetitive Systems

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Aiming at the tracking problem of a class of discrete nonaffine nonlinear multi-input multi-output(MIMO)repetitive systems subjected to separable and nonseparable disturbances,a novel data-driven iterative learning control(ILC)scheme based on the zeroing neural networks(ZNNs)is proposed.First,the equivalent dynamic linearization data model is obtained by means of dynamic linearization technology,which exists theoretically in the iteration domain.Then,the iterative extended state observer(IESO)is developed to estimate the disturbance and the coupling between systems,and the decoupled dynamic linearization model is obtained for the purpose of controller synthesis.To solve the zero-seeking tracking problem with inherent tolerance of noise,an ILC based on noise-tolerant modified ZNN is proposed.The strict assumptions imposed on the initialization conditions of each iteration in the existing ILC methods can be absolutely removed with our method.In addition,theoretical analysis indicates that the modified ZNN can converge to the exact solution of the zero-seeking tracking problem.Finally,a generalized example and an application-oriented example are presented to verify the effec-tiveness and superiority of the proposed process.

Adaptive controlcontrol system synthesisdata-driven iterative learning controlneurocontrollernonlinear discrete time systems

Yunfeng Hu、Chong Zhang、Bo Wang、Jing Zhao、Xun Gong、Jinwu Gao、Hong Chen

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State KeyLaboratory of Automotive Simulation and Control,Jilin University,Changchun 130025,College of Communication Engineering,Jilin University,Changchun 130025,China

Department of Electromechanical Engineering,University of Macau,Macao 999078,China

School of Artificial Intelligence,Jilin University,Changchun 130012,China

College of Electronics and Information Engineering,Tongji University,Shanghai 200092,China

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National Natural Science Foundation of ChinaScience and Technology Development Foundation of Jilin ProvinceDevelopment and Reform Commission Foundation of Jilin ProvinceExploration Foundation of State Key Laboratory of Automotive Simulation and Control

U21A2016620230508095RC2023C034-3

2024

10.1109/JAS.2023.123603

自动化学报(英文版)
中国自动化学会,中国科学院自动化研究所,中国科技出版传媒股份有限公司

自动化学报(英文版)

CSTPCDEI
ISSN：2329-9266
年,卷(期)：2024.11(2)
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