MULTIPLE MAGNITUDE SCALE DLC SCHEME FOR HIGH ORDER SYSTEMS

摘要

In this paper, we propose two multi-scale Direct Learning Control (DLC) schemes for time-varying high order systems, one for linear systems and the other for nonlinear systems. DLC schemes developed hitherto only consider trajectories with a single-scale relation in that any two trajectories are spatially proportional to each other with a single scale for all coordinates (dimensions). In comparison, the new schemes are capable of handling trajectories with multiple scales, i. e., each spatial coordinate of a trajectory is proportional to that of another trajectory associated with a distinct scale. Simulation results confirm the effectiveness of these methods.