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．
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.
出处
《机器人》
EI
CSCD
北大核心
1998年第6期401-406,共6页
Robot
基金
国家自然科学基金
关键词
机器人
运动控制
迭代学习
学习控制
Robot, motion control, learning control, internal model control.
