基于模型预测控制的迭代学习控制器设计

针对具有非重复性干扰项的重复操作过程,提出了基于模型预测控制的迭代学习控制算法,其中,迭代学习控制器以前馈形式作用于重复过程,算法在时间轴方向基于跟踪误差暂态模型,采用模型预测控制的反馈校正,来抑制当前随机干扰,提高系统的跟踪性能,在重复次序方向利用P-型迭代学习控制克服重复干扰。仿真结果表明了该方法的有效性。

Design of Iterative Learning Controller based on model predictive control

An Iterative Learning Controller based on model predictive control is proposed to address the trajectory tracking for a class of repetitive system with non-repetitive disturbances.The Iterative Learning Controller acts on repetitive process as feedforward.Based on the temporal model of tracking error,the predictive model control is applied to improve the tracking performance along the time index for controlling the current stochastic disturbances.In order to restrain the repetitive disturbances,the P-type Iterative Learning Controller is introduced along the batch index.Finally,the effectiveness of the proposed method is demonstrated by simulation results.