分数阶迭代学习控制系统的若干问题的研究

发布时间：2019-05-19 23:52

【摘要】：迭代学习控制是针对一类具有重复运行轨迹的被控对象,是利用上一次系统的输入信息和跟踪误差来修正当前的控制输入,通过一定次数的重复,实现在有限时间区域上的完全跟踪任务.迭代学习控制采用在"重复中学习"的学习策略,具有记忆和修正的机制.由于迭代学习控制算法简单,应用方便,所以,被运用到很多实际应用中去.本文主要研究几种分数阶非线性系统的迭代学习控制,具体内容如下:(1)简要介绍了研究背景及意义和本文要用的相关知识,包括分数阶积分以及常用引理.(2)我们探讨了分数阶非线性脉冲微分系统的P-型迭代学习控制,建立了在开环和闭环条件下的迭代学习控制收敛的充要条件.(3)研究了含有多重时滞非线性系统的分数阶迭代学习控制,它包含了外部干扰和输出控制噪音,通过引入λ-范数,得到在开环和闭环的迭代学习更新律的作用下,系统跟踪误差以及控制输入收敛的充分条件,并且给出一个数值仿真来验证结论的正确性.(4)将分数阶非线性时滞系统加入控制时滞项,构成了系统既具有状态时滞又含有控制时滞,比以往所研究的系统更加复杂.主要研究系统的迭代学习控制具有收敛性.
[Abstract]:Iterative learning control is aimed at a class of controlled objects with repeated trajectory. It uses the input information and tracking error of the last system to correct the current control input, and through a certain number of repeats. Realize the complete tracking task in the limited time area. Iterative learning control adopts the learning strategy of "learning in repetition", which has the mechanism of memory and correction. Because the iterative learning control algorithm is simple and easy to apply, it is used in many practical applications. In this paper, the iterative learning control of several fractional nonlinear systems is studied. The specific contents are as follows: (1) the research background and significance and the related knowledge to be used in this paper are briefly introduced. Including fractional integral and common Lemma. (2) We discuss the P-type iterative learning control of fractional nonlinear impulsive differential systems. The necessary and sufficient conditions for the convergence of iterative learning control under open-loop and closed-loop conditions are established. (3) the fractional iterative learning control for nonlinear systems with multiple delays is studied, which includes external interference and output control noise. By introducing 位-norm, the sufficient conditions for system tracking error and control input convergence under the action of open-loop and closed-loop iterative learning update law are obtained. A numerical simulation is given to verify the correctness of the conclusion. (4) the fractional nonlinear time-delay system is added to the control delay term to form the system with both state delay and control delay, which is more complex than the previous system. This paper mainly studies the convergence of iterative learning control of the system.
【学位授予单位】：安徽大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP13

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