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针对线性时变系统的轨迹跟踪控制问题,提出一种带参考批次的迭代学习控制算法,并给出了算法的收敛性分析.该迭代学习控制算法不需要事先了解线性时变对象的太多知识,而是将当前批次输入轨迹的较小变化所引起的输出轨迹作为参考批次,并以当前批次与参考批次的输入变化与对应的输出变化之比作为学习律,从而实现目标轨迹的跟踪.以一个典型的线性时变系统为例进行仿真分析,验证了所提出算法的有效性.
Aiming at the trajectory tracking control problem of linear time-varying system, an iterative learning control algorithm with reference batch is proposed and the convergence analysis of the algorithm is given. The iterative learning control algorithm does not need to know too much of the linear time-varying objects in advance Knowledge, but the current batch input trajectory caused by smaller changes in the output trajectory as a reference batch, and the current batch and reference batch input changes and the corresponding change in output ratio as a learning law, in order to achieve the goal Tracing the trajectory.Using a typical linear time-varying system as an example, the simulation analysis is carried out to verify the effectiveness of the proposed algorithm.