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非线性不确定系统准最优学习控制

DOI: 10.16383/j.aas.2015.c140781, PP. 1659-1668

Keywords: 准最优非线性控制,学习控制,参数化,非参数不确定性

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Abstract:

?针对不确定非线性系统,提出准最优学习控制方法,解决参数与非参数不确定特性同时存在情形下的轨迹跟踪问题.给出迭代学习与重复学习两种控制策略,根据Sontag公式解决标称系统的优化控制,并以鲁棒学习手段处理参数与非参数不确定特性.提出断续函数连续化方案,以避免传统Sontag公式在实现时可能存在的颤振问题.分析证明经过足够多次迭代或足够多个周期的重复运行后,闭环系统可实现系统状态以预设精度跟踪参考信号.仿真结果表明所设计学习系统在收敛速度方面快于非优化设计.

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