【摘要】 考虑一类高阶不确定非线性系统的跟踪控制问题,系统的控制系数是一个依赖于系统输出的未知函数.许多常见的机械和电机控制系统是这类系统的特例.文章提出了一种不采用饱和函数的重复学习控制方法,该方法能保证闭环系统中所有信号有界,且跟踪误差和期望输入的估计误差都趋于零.最后,举了一个仿真例子,仿真结果显示,跟踪误差和期望输入的估计误差很快地趋于零,这说明了文章方法的有效性.更多还原

【Abstract】 This paper deals with the problem of tracking control for a class of high order uncertain nonlinear systems,in which the control coefficient is an unknown function depending on the system output.Many common mechanical and electrical control system are special cases of the class.A repetitive learning control is presented without use of saturation function,which can guarantee that all signals in the closed loop system are bounded,and the tracking error and desired input estimate error all converge to zero.A simulation example is presented to show the utility of the proposed control method presented in the paper更多还原