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一种机器人轨迹跟踪的迭代学习控制方法
引用本文:姚仲舒,王宏飞,杨成梧.一种机器人轨迹跟踪的迭代学习控制方法[J].兵工学报,2004,25(3):330-334.
作者姓名:姚仲舒  王宏飞  杨成梧
作者单位:南京理工大学动力工程学院,江苏南京,210094
摘    要:针对机器人轨迹跟踪问题,提出了一种带遗忘因子的迭代学习控制算法.给出了学习算法收敛的充分条件,该算法在不改变学习控制器结构的前提下,对要求跟踪的新的期望轨迹,利用系统的历史控制经验,合适地选择了初始控制输入,使系统的输出能尽快地收敛于新的期望轨迹,从而达到了改善系统跟踪性能的目的.仿真结果表明了该方案的有效性.

关 键 词:自动控制技术  机器人  迭代学习控制  轨迹跟踪  局部加权学习

A SORT OF ITERATIVE LEARNING CONTROL ALGORITHM FOR TRACKING OF ROBOT TRAJECTORY
Yao Zhongshu,Wang Hongfei,Yang Chengwu.A SORT OF ITERATIVE LEARNING CONTROL ALGORITHM FOR TRACKING OF ROBOT TRAJECTORY[J].Acta Armamentarii,2004,25(3):330-334.
Authors:Yao Zhongshu  Wang Hongfei  Yang Chengwu
Abstract:An iterative learning control with forgetting factors for the tracking of robot trajectories was proposed, and conditions were presented to guarantee convergence of the iterative algorithm. The convergence of error can be improved without modifying the structure of the controller by utilizing previous experience in tracking different desired trajectories to select an initial control input for a new desired trajectory tracking. The output of the system can track the desired trajectory better. A simulation shows the fast convergence of the proposed algorithm.
Keywords:techniques of automatic control  robot  iterative learning control  trajectory tracking  locally weighted learning
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