机器人自学习控制的稳定性分析方法及其应用

提出了一种针对自学习控制的稳定性判据,应用这一稳定性判据将自学习控制器的设计转化为寻找正定离散矩阵核,从而回答了两个问题,其一什么样的量可以通过自学习叠代加以控制,其二学习叠代中什么样的滤波环节的引入不会影响学习收敛性.根据这一判据设计了一种机器人参数自学习控制律,它保证跟踪轨线全程的收敛性.

Stability Analysis for Iterative Learning Control and its Application to Manipulators

This paper presents a stability criterion for design iterative learning controller.From the criterion,one can change the design problem into finding a positive definite discrete matrix kernel.It has been shown that(1) what kind of variable can be controlled by the iterative learning,(2) and what kind of filter can be included into the controller.As an example,we have designed a parameter learning controller for manipulator trajectory tracking which leads to a perfect learning.