随机变批次长度的反馈辅助PD型量化迭代学习控制
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作者单位:

1.北京化工大学;2.中国人民大学数学学院

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中图分类号:

TP273

基金项目:

国家自然科学基金项目(面上项目,重点项目,重大项目)


Feedback-assisted PD-type quantized iterative learning control with randomly iteration varying lengths
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Affiliation:

1.Beijing University of Chemical Technology;2.School of Mathematics, Renmin University of China

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    摘要:

    针对离散线性系统,研究批次长度随机变化的反馈辅助PD型量化迭代学习控制问题. 考虑系统信号经量化后传输到控制器或执行器的情况, 给出两种量化方案: 跟踪误差信号量化和控制输入信号量化. 基于两种不同的量化信号, 在批次长度和初始条件随机变化前提下设计反馈辅助 PD 型迭代学习控制算法. 采用扇形界的处理方法和堆积系统框架, 推导数学期望下的学习收敛条件: 在误差信号量化情况下, 所提出控制算法可以保证跟踪误差渐近收敛到零; 在控制输入信号量化情况下, 所提出控制算法能够保证跟踪误差有界收敛. 仿真示例对比验证了两种量化方案下所提出方法的有效性和优越性.

    Abstract:

    The feedback-assisted PD-type quantized iterative learning control problem is studied for discrete linear systems with iteration-varying trial lengths. Considering that the system signal is transmitted to the controller or actuator after being quantized. Two quantization schemes are given, including tracking error signal quantization and control input signal quantization. In the case of iteration-varying trial lengths and iteration-varying initial state conditions, a feedback-assisted PD-type update law is developed based on the quantized signal. The learning convergence condition under mathematical expectations derived with the sector bound method and the lifting representation:tracking error signal quantization can obtain zero tracking error, and control input signal quantization only guarantee that the tracking error converges to a bound. Simulation examples are provided to demonstrate the effectiveness and superiority of the proposed scheme under the two quantization schemes.

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历史
  • 收稿日期:2020-03-12
  • 最后修改日期:2021-04-26
  • 录用日期:2020-06-12
  • 在线发布日期: 2020-07-01
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