一类不确定离散时间系统有限次迭代学习误差跟踪控制OA

In this paper,a finite-iteration learning error-tracking control method is proposed for the trajectory tracking problem of a class of uncertain discrete-time systems that perform repetitive tasks in finite time.Firstly,a desired error trajectory that is independent of the reference trajectory is constructed to relax the initial value con-sistency condition in traditional iterative learning control.Moreover,the design of the discrete form of the desired error trajectory only requires the initial error values for each iteration,simplifying the design requirements.Secondly,by constructing a saturated iterative attraction law along the iterative axis,an iterative learning control-ler with disturbance compensation is designed,and the steady-state error band of the tracking error and the expres-sion of the maximum number of iterations required to meet the accuracy requirements are derived.The controller parameters are selected based on the expected accuracy,and the robustness of the system is guaranteed in the para-meter design stage to achieve finite-iteration convergence of the tracking error.Finally,the effectiveness of the pro-posed control method is verified through numerical simulation and experimental results.