非线性系统开闭环PD型迭代学习控制及其在机器人中的应用  

Open-Closed Loop PD-type Iterative Learning Control for Nonlinear System and Its Application in Robot

作　　者：杨晓峰 樊晓平[1] 杨胜跃[1] 黄浩江 

机构地区：[1]中南大学铁道校区自动化工程研究中心,湖南长沙410075

出　　处：《长沙铁道学院学报》2002年第1期78-84,共7页Journal of Changsha Railway University

基　　金：国家自然科学基金 (6 9975 0 0 3);湖南省自然科学基金 (98JJY2 0 4 4 )

摘　　要：针对一类非线性时变系统的迭代学习控制问题提出了一种开闭环PD型迭代学习控制律 .这种迭代律同时利用系统当前的跟踪误差和前次迭代控制的跟踪误差修正控制作用 ,即在开环迭代学习控制的基础上引入一反馈环形成反馈 前馈迭代学习控制律 ,提高系统的跟踪性能 .文中给出了使此迭代学习算法收敛的充分条件和必要条件 .最后 。In this paper,an open closed loop PD type iterative learning control shceme for a class of nonlinear time varying system is proposed.In this scheme,the system courrent tracking error and previous tracking error are both used to update control input meanwhile.Namly,a feedback loop which based on open loop iterative learning control is introduced to form a feedback and feedfoward iterative learning control law to improve the system's tracking performance.Then sufficient and necessary conditions for the convergence of the proposed learning scheme are given.And finally simulation for a robot system shows the feasibility and effectiveness of our conlusion.

关 键 词：非线性系统 迭代学习控制 开闭环PD型 机械人系统 

分 类 号：TP273.22[自动化与计算机技术—检测技术与自动化装置]