双线性型迭代学习控制算法 |
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引用本文: | 孙明轩.双线性型迭代学习控制算法[J].科技通报,1997,13(6):364-368. |
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作者姓名: | 孙明轩 |
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作者单位: | 西安工业学院电子工程系 |
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摘 要: | 基于迭代学习控制中的开闭环配合方案,本文提出了一类双线性型学习控制算法.针对刚性关节机器人动力学特性,文中给出了保证算法迭代收敛性的充分条件.仿真结果表明,适当选取双线性学习控制成分的增益矩阵可加速收敛过程.
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关 键 词: | 收敛性 鲁棒性 迭代学习控制 |
Bilinear type Iterative Learning Control Algorithms |
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Abstract: | Combining the open loop and closed loop learning control algorithms, in this paper, a bilinear type iterative learning control scheme is presented. The sufficient condition for convergence of the learning control for robotic manipulators is provided. Finally,we present a numerical example to show the tracking performance of the presented learning control scheme. |
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Keywords: | convergence robustness iterative learning control |
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