| 具有n个传动器的n个关节机器人系统的学习控制方法 |
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| 引用本文： | 谢胜利, 田森平, 谢振东. 具有n个传动器的n个关节机器人系统的学习控制方法. 自动化学报, 2002, 28(2): 176-182. |
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| 作者姓名： | 谢胜利 田森平 谢振东 |
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| 作者单位： | 1.华南理工大学无线电与自动控制研究所,广州;;2.华南理工大学自动化系,广州 |
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| 基金项目： | 国家自然科学基金 (698740 1 3 ),广东省自然科学基金 (980 5 0 6),广州市基础科学基金 (99J0 0 60 1 )资助 |
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| 摘 要： | 针对由n个传动器所驱动的n个关节机器人系统,采用学习控制的方法讨论了其跟踪控制的问题.首先通过变换降阶,将相应系统转化为低阶系统,然后针对低阶系统进行设计．该方法消除了Kawamara方法在学习过程中要求每次学习都要经过相同的初始值的限制,从而克服了Kawamara方法难以应用到“学习过程中存在初态偏差”的困难.仿真结果说明了此方法的有效性和优越性.
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| 关 键 词： | 机器人系统 关节角跟踪 迭代学习控制 新算法 |
| 收稿时间： | 1999-11-26 |
| 修稿时间： | 1999-11-26 |
LEARNING CONTROL SCHEME FOR n JOINT ROBOTIC SYSTEMS WITH n ACTUATORS |
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| XIE Sheng-Li, TIAN Sen-Ping, XIE Zhen-Dong. Learning Control Scheme for n Joint Robotic Systems with n Actuators. ACTA AUTOMATICA SINICA, 2002, 28(2): 176-182. |
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| Authors: | XIE Sheng-Li TIAN Sen-Ping XIE Zhen-Dong |
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| Affiliation: | 1. Institute of Radio Engineering and Automatic Control,South China University of Technology,Guangzhou;Department of Automation,South China University of Technology,Guangzhou |
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| Abstract: | By using learning control scheme the paper discusses tracking control for njoint robotic systems driven by n actuators. First, corresponding systems are turnedinto lower order systems by transformational reduction of order, and then the lowerorder systems are designed. The scheme eliminates the restriction of passing the sameinitial value for every learning in Kawamara's scheme and thus solves Kawamara'sproblem of applying his scheme to "the existence of initial deviation in learning". Simulation results show the efficiency and superiority of the new scheme. |
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| Keywords: | Robotic systems tracking of joint angle iterative learning control new algorithms |
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