| 模糊迭代学习在单关节机器人运动控制中的应用 |
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| 引用本文： | 刘志学,吴丽娟.模糊迭代学习在单关节机器人运动控制中的应用[J].鞍山科技大学学报,2009(4):378-382. |
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| 作者姓名： | 刘志学 吴丽娟 |
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| 作者单位： | 辽宁科技大学电子与信息工程学院; |
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| 摘 要： | 提出一种迭代学习控制和模糊控制相结合的策略。利用模糊补偿来增加迭代学习控制的收敛速度和保证系统的稳定性,并对单关节机器人模型进行仿真。仿真结果表明,该模糊迭代学习控制系统在第一个学习周期内的误差值明显减小,输出误差也逐渐减小,跟踪性能总体上有了很大的改善,跟踪精度显著提高。
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| 关 键 词： | 机器人 迭代学习控制 模糊控制 |
Application of fuzzy iterative learning in movement control of singlejoint robot |
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| LIU Zhi-xue,WU Li-juan.Application of fuzzy iterative learning in movement control of singlejoint robot[J].Journal of Anshan University of Science and Technology,2009(4):378-382. |
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| Authors: | LIU Zhi-xue WU Li-juan |
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| Institution: | School of Electronic and Information Engineering;University of Science and Technology Liaoning;Anshan 114051;China |
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| Abstract: | This paper proposed a way of the iterative learning control integrating with fuzzy control.The fuzzy compensation is used to increase the convergence speed of the iterative learning control and guarantee the stability of system.Simulations of a simple-joint robot show that the error is reduced 70% in the first learning period of "inexperience" by fuzzy iterative learning control,and the error of output is also reduced to 0 gradually.The tracking performance has great improvement and the tracking precision i... |
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| Keywords: | robot iterative learning control fuzzy control |
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