| 时变机器人系统的重复学习控制：一种混合学习方案(英文) |
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| 引用本文： | 孙明轩,何熊熊,陈冰玉.时变机器人系统的重复学习控制：一种混合学习方案(英文)[J].自动化学报,2007(11). |
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| 作者姓名： | 孙明轩 何熊熊 陈冰玉 |
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| 作者单位： | College of Information Engineering Zhejiang University of Technology，College of Information Engineering，Zhejiang University of Technology，College of Information Engineering，Zhejiang University of Technology，Hangzhou 310032，P.R.China，Hangzhou 310032，P.R.China，Hangzhou 310032，P.R.China |
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| 基金项目： | Supported by the Scientific Research Foundation for the Returned Overseas Chinese Scholars,State Education Ministry,and National Natural Science Foundation of China(60474005) |
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| 摘 要： | Repetitive learning control is presented for finite- time-trajectory tracking of uncertain time-varying robotic sys- tems.A hybrid learning scheme is given to cope with the con- stant and time-varying unknowns in system dynamics,where the time functions are learned in an iterative learning way,without the aid of Taylor expression,while the conventional differential learning method is suggested for estimating the constant ones. It is distinct that the presented repetitive learning control avoids the requirement for initial repositioning at the beginning of each cycle,and the time-varying unknowns are not necessary to be periodic.It is shown that with the adoption of hybrid learning, the boundedness of state variables of the closed-loop system is guaranteed and the tracking error is ensured to converge to zero as iteration increases.The effectiveness of the proposed scheme is demonstrated through numerical simulation.
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Repetitive Learning Control for Time-varying Robotic Systems:A Hybrid Learning Scheme |
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| SUN Ming-Xuan HE Xiong-Xiong CHEN Bing-Yu .College of Information Engineering,Zhejiang University of Technology,Hangzhou ,P.R.China.Repetitive Learning Control for Time-varying Robotic Systems:A Hybrid Learning Scheme[J].Acta Automatica Sinica,2007(11). |
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| Authors: | SUN Ming-Xuan HE Xiong-Xiong CHEN Bing-Yu College of Information Engineering Zhejiang University of Technology Hangzhou PRChina |
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| Affiliation: | SUN Ming-Xuan~1 HE Xiong-Xiong~1 CHEN Bing-Yu~1 1.College of Information Engineering,Zhejiang University of Technology,Hangzhou 310032,P.R.China |
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| Abstract: | Repetitive learning control is presented for finite- time-trajectory tracking of uncertain time-varying robotic sys- tems.A hybrid learning scheme is given to cope with the con- stant and time-varying unknowns in system dynamics,where the time functions are learned in an iterative learning way,without the aid of Taylor expression,while the conventional differential learning method is suggested for estimating the constant ones. It is distinct that the presented repetitive learning control avoids the requirement for initial repositioning at the beginning of each cycle,and the time-varying unknowns are not necessary to be periodic.It is shown that with the adoption of hybrid learning, the boundedness of state variables of the closed-loop system is guaranteed and the tracking error is ensured to converge to zero as iteration increases.The effectiveness of the proposed scheme is demonstrated through numerical simulation. |
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| Keywords: | Adaptive control iterative learning control repetitive control robotic systems time-varying systems |
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