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Data-Driven Adaptive Iterative Learning Control for Linear Time-Varying Singular Systems

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Data-Driven Adaptive Iterative Learning Control for Linear T...

第35届中国过程控制会议

作者： Yu Hui ronghu chi School of Automation & Electronic Engineering Qingdao University of Science & Technology

This work develops a data-driven adaptive iterative learning control(DDAILC) for output tracking problem of linear time-varying singular systems. By differencing system outputs between different iterations, the iterative dynamic relationship(IDR) between input and output data is established. Based on IDR, two index functions about the unknown system parameter and control input are designed, through which the parameter updating law and learning control law are proposed based on optimization design. The learning gain is updated by the parameter estimation automatically. The proposed DDAILC is data based and does not depend on the explicit system model. The effectiveness of the proposed method is verified by simulation studies.

关键词： Iterative dynamic relationship time-varying singular system adaptive iterative learning control data-driven control

A NEW NEURAL NETWORK-BASED ADAPTIVE ILC FOR NONLINEAR DISCRETE-TIME SYSTEMS WITH DEAD ZONE SCHEME

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Journal of Systems Science & Complexity 2009年第3期22卷 435-445页

作者： ronghu chi Zhongsheng HOU Institute of Autonomous Navigation and Intelligent Control School of Automation and Electrical EngineeringQingdao University of Science and Technology Qingdao 266042 China. Advanced Control Systems Laboratory School of Electronics and Information Engineering Beijing JiaotongUniversity Beijing 100044 China.

By introducing a deadwzone scheme, a new neural network based adaptive iterative learning control （ILC）（NN-AILC） scheme is presented for nonlinear discrete-time systems, where the NN weights are time-varying. The most distinct contribution of the proposed NN-AILC is the relaxation of the identical conditions of initial state and reference trajectory, which are common requirements in traditional ILC problems. Convergence analysis indicates that the tracking error converges to a bounded ball, whose size is determined by the dead-zone nonlinearity. Computer simulations verify the theoretical results.

关键词： Adaptive control iterative learning control neural network non-identical initial condition,non-identical trajectory.

基于紧格式动态线性化的吊舱推进电机滑模矢量控制

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控制工程 2024年第9期31卷 1544-1551页

作者：闫成阳姚文龙池荣虎邵巍裴春博青岛科技大学自动化与电子工程学院山东青岛266100

针对复杂海况下吊舱推进电机存在的模型建立困难以及负载扰动问题,提出了基于紧格式动态线性化的滑模矢量控制方法。首先,考虑船舶实际工况建立包含船舶运动模型和螺旋桨负载特性的船-桨数学模型,并通过紧格式动态线性化方法,建立带时... 详细信息

针对复杂海况下吊舱推进电机存在的模型建立困难以及负载扰动问题,提出了基于紧格式动态线性化的滑模矢量控制方法。首先,考虑船舶实际工况建立包含船舶运动模型和螺旋桨负载特性的船-桨数学模型,并通过紧格式动态线性化方法,建立带时变参数和负载扰动项的吊舱推进电机数据模型;然后,设计基于最小转速跟踪误差指标的滑模控制器,同时设计神经网络观测器对控制律中的未知负载扰动项进行估计,并将估计值反馈到控制器中进行扰动补偿。仿真结果表明,所设计的控制器减小了推进电机的转速超调、转矩脉动,提高了吊舱推进电机系统的控制性能。

关键词：推进电机紧格式动态线性化滑模控制神经网络观测器负载扰动

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迭代学习控制器参数的数据驱动自适应整定方法

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青岛科技大学学报（自然科学版） 2024年第1期45卷 121-128页

作者：于瀛祯林娜池荣虎青岛科技大学自动化与电子工程学院山东青岛266061

针对PID型迭代学习控制(iterative learning control,ILC)方法,提出了两种数据驱动自适应整定(data-driven adaptive tuning,DDAT)方法。首先采用紧格式迭代动态线性化(compact form iterative dynamic linearization,CFIDL)方法将原始的非线性系统转化为等价的线性数据模型,设计了一个目标函数来动态地调整PID型ILC的学习增益。其次,通过对设计的目标函数进行优化,提出了一种基于CFIDL的DDAT方法。该方法只使用实际的I/O数据,而不需要任何机理模型信息。进一步,引入偏格式迭代动态线性化(partial form iterative dynamic linearization,PFIDL)方法对结果进行扩展,提出了一种基于PFIDL的DDAT方法。所提出的两种DDAT方法都可以提高PID型ILC对不确定性的鲁棒性。最后,通过仿真验证了两种方法的有效性。

关键词：数据驱动方法参数的自适应整定迭代学习控制优化

船舶光伏发电最大功率点跟踪无模型自适应控制

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青岛科技大学学报（自然科学版） 2024年第3期45卷 125-131页

作者：裴春博姚文龙池荣虎青岛科技大学自动化与电子工程学院山东青岛266061

针对船舶光伏发电系统输出功率优化控制问题,并充分考虑复杂海况天气、船舶横摇和海盐结晶导致的船舶光伏发电系统模型参数时变,提出一种船舶光伏发电最大功率点跟踪无模型自适应控制方法。首先,根据光伏发电系统的输出和输入数据建立... 详细信息

针对船舶光伏发电系统输出功率优化控制问题,并充分考虑复杂海况天气、船舶横摇和海盐结晶导致的船舶光伏发电系统模型参数时变,提出一种船舶光伏发电最大功率点跟踪无模型自适应控制方法。首先,根据光伏发电系统的输出和输入数据建立了离散非线性系统;其次,采用基于紧格式动态线性化的数据模型设计最大功率点跟踪无模型自适应控制器;最后,给出了伪偏导数估计算法。通过对比仿真实验,所提控制方法提高了船舶光伏发电系统的输出功率的稳定性。在恒定25℃环境温度及辐照度900 W·m^(-2)下,采用无模型自适应控制和基于扰动观察法的最大功率点跟踪时间分别为0.1、0.3 s,功率振荡幅度分别为5、18 W;在2 s时刻辐照度变化为500 W·m^(-2)时,采用无模型自适应控制和基于扰动观察法的最大功率点跟踪时间分别为0.02、0.06 s,功率振荡幅度分别为100、250 W。可以看出,采用无模型自适应控制的最大功率点跟踪方法可改善船舶光伏系统最大功率跟踪性能,验证了所提控制方法的有效性和优越性。

关键词：船舶微电网光伏发电最大功率点追踪无模型自适应控制

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HiTL-based adaptive fuzzy tracking control of MASs:A distributed fixed-time strategy

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中国科学:技术科学英文版 2023年第10期66卷 2907-2916页

作者： LIU Yang chi ronghu LI HongYi WANG LiJie LIN Na College of Automation and Electronic Engineering Qingdao University of Science and TechnologyQingdao 266061China School of Automation Guangdong University of TechnologyGuangzhou 510006China Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of TechnologyGuangzhou 510006China Institute of Complexity Science and the School of Automation Qingdao UniversityQingdao 266071China

Human-in-the-loop(HiTL)control is promising for the cooperative control problem of multi-agent systems(MASs)under the complicated *** considering the effect of human intelligence and decision making,the system robustness and security are notably ***,a distributed fixed-time tracking control problem is investigated in this paper for heterogeneous MASs based on the HiTL ***,a lemma of practically fixed-time stable is given where an explicit relationship of settling time and convergence domain is clearly ***,under the framework of the adaptive backstepping approach,a series of modified intermediate control signals is designed to avoid the singularity problem by taking advantage of power transformation,fuzzy logic systems,and inequality ***,the numerical example and comparison results are utilized to testify the effectiveness of the proposed method.

关键词： human-in-the-Loop heterogeneous MASs fixed-time stable adaptive tracking control fuzzy logic systems

Iterative Learning Control for a Class of MIMO Nonlinear System with Input Saturation Constraint

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Iterative Learning Control for a Class of MIMO Nonlinear Sys...

第36届中国控制会议

作者： Zhang Ruikun chi ronghu School of Mathematics and Physics Qingdao University of Science and Technology School of Automation and Electronics Engineering Qingdao University of Science and Technology

ISBN: (数字)9789881563934

ISBN: (纸本)9781538629185

This paper presents an iterative learning control for a class of multiple-input multiple-output（MIMO）nonlinear parameterized system with input saturation *** dynamic function of the nonlinear system considered in this paper is described by an nonlinearly parameterized functions with input saturation *** considering the property of the saturation function in the MIMO nonlinear system,we design the P-type iterative learning controller with a feedback term and partially-saturated term and a fully-saturated parameter updating *** constructing a composite energy function（CEF）,we prove the convergence property of the tracking *** last,we give an numerical simulation which show that the control scheme proposed in this paper is effective and correct.

关键词： Iterative Learning Control Input Saturation Constraint Multiple-Input Multiple-Output System

Effect Analysis of Data Dropout on Iterative learning control

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Effect Analysis of Data Dropout on Iterative learning contro...

第25届中国控制与决策会议

作者： Bu Xuhui Hou Zhongsheng chi ronghu School of Electrical Engineering & Automation Henan Polytechnic University School of Electronics & Information Engineering Beijing Jiaotong University School of Automation & Electrical Engineering Qingdao University of Science and Technology

ISBN: (纸本)9781467355339

In this paper, the effect analysis of data dropout on iterative learning control （ILC） for linear discrete-time systems is considered. Using the lifting technique to ILC, the condition of tracking error for both asymptotic stability and monotonic convergence is first given, and then the relationship between convergence speed and data dropout rate is also presented. It is shown that, although data dropout not change the convergence of the ILC algorithm, the convergent speed gets slower as dropout rate increases. Two examples are given to validate the theoretical results.

关键词： iterative learning control data dropout convergence speed robust design

On Three Discrete-time Adaptive ILCs for Different Nonlinear Uncertain Systems 25th

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On Three Discrete-time Adaptive ILCs for Different Nonlinear...

第25届中国控制与决策会议

作者： chi ronghu Zhang Dexia Hou Zhongsheng Wang Danwei School of Automation and Electronics Engineering Qingdao University of Science and Technology Advanced Control Systems Lab School of Electronics & Information Engineering Beijing Jiaotong University EXQUISITUS Centre for E-City School of Electrical & Electronic Engineering Nanyang Technological University

ISBN: (纸本)9781467355322

In this paper, three discrete-time adaptive ILC approaches are discussed fully. In parallel with the continuous-time systems, a discrete-time adaptive ILC with time-difference estimator is first proposed for a class of discrete-time systems with constant parametric uncertainties. And then, a discrete-time adaptive ILC with hybrid-difference estimator is proposed for the other class of discrete-time systems with a mixture of time-varying and time-invariant uncertain parameters. The existing discrete-time adaptive ILC with iteration-difference is also reviewed for the convenience of comparison. Three cases are considered in the simulation to show the effectiveness of the proposed adaptive ILCs and to answer the question that which one is most suitable for the different controlled systems.

关键词： Adaptive ILC Time-difference estimator Iteration-difference estimator Hybrid-difference estimator Discrete-time systems