混联机械臂系统自适应选择迭代学习角同步控制  

ADAPTIVE SWITCHING ITERATIVE LEARNING ANGLE SYNCHRONOUS CONTROL FOR HYBRID MANIPULATOR SYSTEM

作　　者：周吉 万鹏 黄志来 徐培民[1,2] ZHOU Ji;WAN Peng;HUANG Zhi-lai;XU Pei-min(Key Laboratory of Special Heavy Load Robot of Anhui province,Maanshan,Anhui 243000,China;Anhui University of Technology School of Mechanical Engineering,Maanshan,Anhui 243000,China;Magang(Group)Holding Company Ltd,Maanshan,Anhui 243000,China)

机构地区：[1]特种重载机器人安徽省重点实验室,安徽马鞍山243000 [2]安徽工业大学机械工程学院,安徽马鞍山243000 [3]马钢(集团)控股有限公司,安徽马鞍山243000

出　　处：《井冈山大学学报（自然科学版）》2021年第3期79-84,共6页Journal of Jinggangshan University (Natural Science)

摘　　要：建立了四自由度混联机械臂系统动力学模型,并根据系统重复运动和具有不确定因素的特点,设计了自适应选择迭代学习同步控制算法(ASILSC),实现了系统的角同步运动,并证明控制算法的收敛性。仿真结果表明,相比于带遗忘因子的迭代学习同步控制,自适应选择迭代学习角同步控制有更好的收敛性和鲁棒性。The dynamic model of the four-degree-of-freedom hybrid manipulator system was established.According to the characteristics of the system’s repeated motion and uncertain factors,the adaptive switching iterative learning angle synchronous control(ASILSC)was designed to achieve the angular synchronization of the system.The convergence of the control algorithm was proved.The simulation results showed that compared with the iterative learning synchronization control method with forgetting factor,the iterative learning synchronous control method based on adaptive switching had better convergence and robustness.

关 键 词：混联机械臂 自适应选择 迭代学习 同步控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]