带有初始误差的机械手轨迹跟踪的快速迭代学习控制  

Rapid ILC control of manipulator trajectory tracking with initial error

作　　者：王洪斌[1] 王艳[1] 

机构地区：[1]燕山大学电院工业计算机控制工程河北省重点实验室,秦皇岛066004

出　　处：《系统工程理论与实践》2011年第1期165-171,共7页Systems Engineering-Theory & Practice

摘　　要：针对具有非零初始误差的多关节机械手的轨迹跟踪控制问题,首先采用降阶变换的方式将原系统转化为低阶系统,再对低阶系统重新变换设计,该方法消除了Kawamura方法在学习过程中要求每次学习初态与期望初态一致或迭代初态固定的限制.然后提出一种新型快速迭代算法对变换后的机械手系统模型进行学习控制,充分利用了系统已存的有效信息,使系统的输出能尽快地收敛于期望轨迹.该算法相对于P型算法具有较快的跟踪收敛速度,相对于PD型算法计算过程简便易行,避免了微分运算给系统带来的不稳定影响.仿真结果表明了所提控制方案的有效性,提高了系统的实时性.A discussion was made on the control of tracking for n joint manipulator systems with initial error.First,corresponding systems were turned into lower order systems by reduction change and then the lower order systems were redesigned,which could eliminate the limitation that the initial state of each iterative must be equal to its ideal value in Kawamura＇s method or fixed.Second,a new rapid iterative learning algorithm was proposed to control the transformed system.It made the best of effective information the system had saved and the output could converge to the desired output as quickly as possible.The convergence speed of the algorithm is faster than the P type algorithm and the computation process is easier than the PD type algorithm.Meanwhile,the instability due to differential operation is avoided in the algorithm.Simulation results validate the validity of the scheme and real-time capability of the system is improved.

关 键 词：机械手系统 初始误差 快速算法 迭代学习控制 轨迹跟踪 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]