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时变离散切换系统的迭代学习控制
Iterative learning control for discrete time-varying switched systems
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摘要: 针对一类具有任意切换序列的时变离散切换系统的轨迹跟踪问题，提出了一种离散迭代学习控制算法。该算法在切换序列沿迭代轴不变而只沿时间轴变化的前提下，将整个有限时间区间划分为有限个子区间，并利用λ-范数对各个子区间上的收敛性进行了严格证明，给出了算法收敛的范数形式的充分条件。该方法不仅实现了时变离散切换系统在有限时间内对目标轨迹的完全跟踪，而且结构简单更便于工程实现。仿真结果验证了该方法的有效性。Abstract: Aiming at the problem of trajectory tracking in a class of discrete time-varying switched system with arbitrary sequence, in this paper we propose a discrete iterative learning control algorithm. Under the precondition that the switched sequence does not change along the iterative axis but it does along the time axis, this algorithm divides the whole finite time region into several finite subintervals, and uses λ-norm to prove the convergence strictly, and provides the sufficient convergent condition of the algorithm in the norm form. This method not only realizes the complete tracking for a discrete time-varying switched system within a limited time, but also has a simple structure easy to be realized in engineering. Simulation results verify the validity of the method.
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