检索结果-南通市图书馆

A PD-Type State-Dependent Riccati Equation With Iterative Learning Augmentation for Mechanical Systems

IEEE/CAA Journal of Automatica Sinica 2022年第8期9卷 1499-1511页

作者： saeed rafee nekoo JoséÁngel Acosta Guillermo Heredia Anibal Ollero GRVC Robotics Lab. Depto de Ingeniería de Sistemas y AutomáticaEscuela Técnica Superior de IngenieríaUniversidad de SevillaSeville 41092Spain

This work proposes a novel proportional-derivative(PD)-type state-dependent Riccati equation(SDRE)approach with iterative learning control(ILC)*** the one hand,the PD-type control gains could adopt many useful available criteria and tools of conventional PD *** the other hand,the SDRE adds nonlinear and optimality characteristics to the controller,i.e.,increasing the stability *** advantages with the ILC correction part deliver a precise control law with the capability of error reduction by *** SDRE provides a symmetric-positive-definite distributed nonlinear suboptimal gain K(x)for the control input law u=–R–1(x)BT(x)K(x)*** sub-blocks of the overall gain R–1(x)BT(x)K(x),are not necessarily symmetric positive definite.A new design is proposed to transform the optimal gain into two symmetric-positive-definite gains like PD-type controllers as u=–KSP(x)e–KSD(x)?.The new form allows us to analytically prove the stability of the proposed learning-based controller for mechanical systems;and presents guaranteed uniform boundedness in finite-time between learning *** symmetric PD-type controller is also developed for the state-dependent differential Riccati equation(SDDRE)to manipulate the final *** SDDRE expresses a differential equation with a final boundary condition,which imposes a constraint on time that could be used for finitetime ***,the availability of PD-type finite-time control is an asset for enhancing the conventional classical linear controllers with this *** learning rules benefit from the gradient descent method for both regulation and tracking *** of the advantages of this approach is a guaranteed-stability even from the first loop of learning.A mechanical manipulator,as an illustrative example,was simulated for both regulation and tracking *** experimental validation was done to show the capability of the system in practice by the implementation of the proposed metho

关键词： Closed-loop iterative learning control(ILC) PD-type SDRE SDDRE symmetric

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

欢迎您,

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

请选择保存的检索档案：

请选择收藏分类：

通借通还

欢迎您,

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：