研究一类大型互联非线性系统的分散迭代学习控制问题,该类大型互联非线性系统具有最一般的形式.基于P型学习律和D型学习律构建得到分散迭代学习控制律,
在这种分散式控制方案中,每个子系统的控制器仅依赖于该子统的输出变量,不需要与其它子系统交换信息.利用压缩映射原理,证明这两种学习律都能使得每个子系统的输出跟踪误差沿迭代轴方向收敛.

The problem of decentralized iterative learning control algorithm for a class of large-scale interconnected nonlinear systems is considered. Here, the consid-
ered large-scale interconnected nonlinear systems are assumed to be quite general.Based on P-type learning scheme and D-type learning scheme,  ecentralized iterative learning control laws are designd for such large-scale interconnected nonlinear sys-tems. The proposed controller of each subsystem only relies on local output variables without any information exchange with other subsystems. By using the contraction mapping principle, it is shown that both schemes can guarantee the output tracking error for each subsystem converges along the iteration axis.