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考虑一类高阶不确定非线性系统的跟踪控制问题,系统的控制系数是一个依赖于系统输出的未知函数.许多常见的机械和电机控制系统是这类系统的特例.文章提出了一种不采用饱和函数的重复学习控制方法,该方法能保证闭环系统中所有信号有界,且跟踪误差和期望输入的估计误差都趋于零.最后,举了一个仿真例子,仿真结果显示,跟踪误差和期望输入的估计误差很快地趋于零,这说明了文章方法的有效性.
Considering a class of tracking control problems for a class of higher order uncertain nonlinear systems, the control coefficient of the system is an unknown function that depends on the output of the system. Many common mechanical and electrical motor control systems are special cases of such systems. The iterative learning control method using saturation function ensures that all the signals in the closed-loop system are bounded, and the estimation error of tracking error and expected input tends to zero. Finally, a simulation example is given. The simulation results show that the tracking error It is expected that the input estimation error tends to zero quickly, which shows the validity of the article method.