| 基于内模的机器人迭代学习控制 |
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| 引用本文： | 徐进学,吴海,柴天佑,谈大龙.基于内模的机器人迭代学习控制[J].机器人,1998,20(6):401-406. |
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| 作者姓名： | 徐进学 吴海 柴天佑 谈大龙 |
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| 作者单位： | [1]东北大学自动化研究中心 [2]东北大学控制与仿真中心 |
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| 摘 要： | 本文根据内模控制的概念，设计一个扰动控制器，使机器人系统表现为固定参数的解耦线性化系统．基于此线性系统，提出了一种迭代学习控制律，给出了算法收敛的充分条件．算法的参数选择非常简单，从而易于满足收敛条件．仿真结果表明了算法的有效性．
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| 关 键 词： | 机器人 运动控制 迭代学习 内模控制 |
AN ITERATIVE LEARNING CONTROL FOR MANIPULATORS BASED ON INTERNAL MODEL |
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| XU Jinxue.AN ITERATIVE LEARNING CONTROL FOR MANIPULATORS BASED ON INTERNAL MODEL[J].Robot,1998,20(6):401-406. |
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| Authors: | XU Jinxue |
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| Abstract: | In this paper, a disturbance controller is designed for making robotic system behave as a decoupled linear system according to the concept of internal model. Based on the linear system, the paper presents an iterative learning control algorithm for robotic manipulators. A sufficient condition for convergence is provided. The parameter choice of the algorithm is simple and easy to meet the convergence condition. The simulation results demonstrate the effectiveness of the algorithm. |
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| Keywords: | Robot motion control learning control internal model control |
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