Abstract: Aiming at the optimal tracking problem of the relatively independent action of the predictive compensator and the repetitive controller in the existing controllers, a linear discrete system based on the expected trajectory and the predictable interference signals is proposed, and the design method of the optimal predictive repetitive controller based on information fusion is studied through the error system. Firstly, an L-order difference operator is introduced into the discrete system to construct an augmented error system. Then, use the concepts of co-state and information to obtain control soft constraint information to describe the optimal fusion process, and obtain the optimal estimation filter of the co-state of the control increment information and augmented error system; finally, the relevant previewing repeated controller control all the information of the law is fused to obtain the optimal preview repetitive controller composed of state feedback, repetitive control and preview compensation.. The digital simulation results show that compared with the independent optimal predictive repetition controller, the optimal predictive repetition controller based on information fusion can achieve stability in fewer cycles, and can make better use of the future effective information of the system in a limited number of steps, thus greatly improving the tracking accuracy.

摘要： 针对现有控制器中预见补偿器和重复控制器相对独立作用的最优跟踪问题，提出从信息融合的角度构造了线性离散系统的最优预见重复控制器的设计方法。首先，在离散系统中引入L阶差分算子，将预见重复控制设计问题转化为调节稳定性问题；然后，使用协状态和信息量的概念获得控制软约束信息来描述最优融合的过程，得到控制增量信息和增广误差系统协状态的最优估计滤波；最后，将有关预见重复控制器控制律所有信息融合，得到由状态反馈、重复控制和预见补偿构成的最优预见重复控制器。数字仿真表明，与独立的最优预见重复控制器相比，基于信息融合的最优预见重复控制器在更少的周期内达到稳定，且在有限的步数下，更能有效利用系统的未来有效信息，从而大幅提高跟踪精度。