智能控制智能控制智能控制 (51).pdf

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1、Iterative Learning Control Definition of Iterative Learning Control Iterative learning control is a learningcontrolstrategythatcanimprovethequalityof control iteratively by usinginformation obtained from previous trials toobtain the control input that causes thedesired output trajectory finally.Iter

2、ative Learning Control Task of Iterative Learning ControlGiving the current input and current output of the systemdetermining the next desired inputIterative Learning Controliterative control&optimal controliterative control&adaptive control optimal control computes the optimal input according to th

3、e system model iterative control gets the best input from the previous trials.the algorithm of the iterative control is implemented off-line after each trial algorithm of the adaptive control is an on-line algorithm computation.General block diagram ofIterative Learning Control：LearningControllerPla

4、ntFeedbackController+?+-+-?Kth Operation LearningControllerPlantFeedbackController+?+-+-?(K+1)th Operation?:bounded continuous desired output;?kth:iterative reference input;?-(k+l)th:iterative reference input;?-kth:actual iterative output of the closed-loop control system;k=l,2,nFig 1 General block

5、diagram of Iterative Learning Control Supposethecontrolledobject(plant)has processLearningControllerPlantFeedbackController+?+-+-?Kth Operation LearningControllerPlantFeedbackController+?+-+-?(K+1)th Operation?,?,?,?,?Error:?Fig 1 General block diagram of Iterative Learning Control With the iterativ

6、e accumulation ofthe effective learning experience thefollowing holds:LearningControllerPlantFeedbackController+?+-+-?Kth Operation LearningControllerPlantFeedbackController+?+-+-?(K+1)th Operation?orFig 1 General block diagram of Iterative Learning Control Iterative Learning Control Closed-loop ite

7、rative learning control can obtain a better anti-interference capability achieve precise tracking control of a class of nonlinear systems over a finite time interval the learning is done in a feedback configurationIterative Learning Control Closed-loop iterative learning controlDesired OutputPlant O

8、utputPlant InputLearningRuleFeedforwardControl InputFeedbackControllerR(.)PlantMemory?+-?Fig 2 General block diagram of Closed-loop Iterative Learning Control Iterative Learning ControlIterative learning control is very effective for reducing the error in feedback control systemsIt can be used as a tool in nonlinear system theory.Application of Iterative Learning ControlWhat is the key of Iterative learning control?What kind of problem is the Iterative learning control suitable for solving?Summary