摘要
提出了一类离散系统的最优迭代学习控制方法。通过对L2[0，＋∞]上对偶算子T*的定义，给出了最优步长的选择方法及收敛性定理。本文将该方法应用于一种机械手的单关节位置控制，以克服关节摩擦非线性，改善关节轨迹跟踪控制的性能。仿真实验结果表明了这种方法的有效性。
In this paper, an optimal iterative learning control scheme for discrete systems is presented. Based on the definition of a dual operator T* in L2[0, ＋∞] space, a method of choosing an optimal step and a convergence theorem of the optimal iterative learning controlare also given. The proposed control scheme is applied to the position control of a singlejoint for a robot hand to overcome nonlinear frictions and improve the control performanceof the joint trajectory tracking. A simulation example is presented to illustrate the effectivenessof this scheme.
出处
《电机与控制学报》
EI
CSCD
1999年第1期46-49,共4页
Electric Machines and Control
关键词
离散系统
迭代学习控制
最优控制
discrete system
iterative learning control
optimal control
