| 基于指数变增益迭代学习控制的机械臂轨迹跟踪研究 |
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| 引用本文： | 孙盛骐,赵志超,尹红艳.基于指数变增益迭代学习控制的机械臂轨迹跟踪研究[J].沈阳大学学报,2013,25(3):216-220. |
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| 作者姓名： | 孙盛骐 赵志超 尹红艳 |
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| 作者单位： | 沈阳大学信息工程学院,辽宁沈阳,110044 |
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| 基金项目： | 东北大学轧钢技术及连轧自动化国家重点实验室开放课题基金资助项目，沈阳大学装备制造综合自动化辽宁省重点实验室开放课题基金资助项目 |
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| 摘 要： | 针对一类具有强耦合、参数时变、不确定干扰性质的机械臂系统,提出了一种指数变增益的闭环D型迭代学习控制算法.该算法主要解决机械臂轨迹跟踪精度以及迭代学习速度问题,可以实现机械臂轨迹的快速精确跟踪.最后通过MATLAB对机械臂轨迹跟踪系统进行仿真,仿真结果验证了算法的有效性.
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| 关 键 词： | 指数变增益 学习速度 机械臂 轨迹跟踪 |
Manipulator Trajectory Tracking Study based on Iterative Learning Control of Index Variable Gain |
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| Sun Shengqi
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Zhao Zhichao
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Yin Hongyan.Manipulator Trajectory Tracking Study based on Iterative Learning Control of Index Variable Gain[J].Journal of Shenyang University,2013,25(3):216-220. |
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| Authors: | Sun Shengqi Zhao Zhichao Yin Hongyan |
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| Institution: | (College of Information Engineering, Shenyang University, Shenyang 110044, China) |
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| Abstract: | For a class of strong coupling, parameter time-varying and uncertain interference properties of manipulator system, an iterative learning control algorithm with index variable gain closed loop D- type is put forward. The algorithm mainly solves the questions of trajectory tracking accuracy and iterative learning speed of manipulator, which can realize fast and accurate tracking of manipulator trajectory. Manipulator trajectory tracking system is simulated on MATLAB, and the simulation results verify the effectiveness of the proposed algorithm. |
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| Keywords: | index variable gain learning speed manipulator trajectory tracking |
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