Advanced iterative learning control method for accurate target tracking

An iterative learning control and target tracking technology, applied in the field of precise target tracking

Inactive Publication Date: 2010-09-29
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Although traditional control theory provides various design methods to solve the tracking problem of the controlled system, most of them can only realize the tracking task asymptotically.
For a given desired output trajectory, if accurate tracking with zero error can be achieved, it is undoubtedly a more challenging system control task

Method used

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  • Advanced iterative learning control method for accurate target tracking
  • Advanced iterative learning control method for accurate target tracking
  • Advanced iterative learning control method for accurate target tracking

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Embodiment Construction

[0068] 1. In the present invention, and Respectively represent the L of the function G(s) 2 Norm and L ∞ norm.

[0069] 2 pairs figure 1 For the described look-ahead iterative learning control system, the algorithm conditions for robust monotonic convergence are derived using (1)-(5) as follows:

[0070] Using (1)-(5) to solve the tracking error, we can know

[0071] E k + 1 - E * = W 1 PK 1 - W 1 ( 1 - PK ) Y d - PU k + 1

[0072] = W ...

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Abstract

The invention discloses an advanced iterative learning control method for accurate target tracking, providing an iterative learning control method which utilizes tracking error information at advanced time as correction quantity to realize the accurate tracking of an uncertain time-delay system for the given desired output trajectory. The method not only has robustness for the uncertainty of a system model, but also can compensate the uncertain time delay of the controlled system. The method not only has simple structure and is easy to realize, but also has high accuracy and fast convergence rate, and has very high actual value.

Description

technical field [0001] The present invention relates to the problem of accurate target tracking of a class of uncertain time-delay systems, and specifically uses the advanced iterative learning control method to realize the precise tracking of a given expected output target trajectory for a class of systems with unknown input time-delay and model uncertainty . Background technique [0002] As a special nonlinear system characteristic, time delay makes the evolution of the system not only related to the current state, but also related to the state of the past period of time. Due to the existence of factors such as the measurement of system variables, the physical properties of equipment, and the transmission of substances and signals, time-lag phenomena generally exist in various industrial systems, such as data transmission in information networks, temperature control in chemical production processes, gas There is a time lag in the pipeline transfer of liquids and the remot...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 贾英民孟德元
Owner BEIHANG UNIV
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