| 基于T-S模型的迭代学习控制算法及其在机器人点位控制中的仿真研究 |
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| 引用本文： | 张丽萍,杨富文.基于T-S模型的迭代学习控制算法及其在机器人点位控制中的仿真研究[J].系统仿真学报,2005,17(1):166-169. |
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| 作者姓名： | 张丽萍 杨富文 |
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| 作者单位： | 1. 福州大学机械工程及自动化学院,福建福州,350002
2. 福州大学电气工程及自动化学院,福建福州,350002 |
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| 基金项目： | 国家自然科学基金项目(60474049) |
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| 摘 要： | 考虑了一类特殊的迭代学习控制问题，即用迭代学习方法解决机器人的点位控制问题。采用T-S模型描述机器人系统，在T-S模型的基础上，运用并行分配补偿方法(PDC)确定T-S模型的迭代学习控制器结构，并给出了误差收敛条件。为避免迭代过程的初始定位操作，丈中还设计了模糊循环迭代学习律。最后以在垂直面内运动的单关节的机器人为例说明了所提出方法的有效性。
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| 关 键 词： | T-S模糊模型 迭代学习控制 点位控制 MATLAB仿真 |
| 文章编号： | 1004-731X(2005)01-0166-04 |
| 修稿时间： | 2004年1月8日 |
Iterative Learning Control Based on T-S Model and Its Simulation Study on Point-to-Point Control of Robots |
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| ZHANG Li-ping,YANG Fu-wen.Iterative Learning Control Based on T-S Model and Its Simulation Study on Point-to-Point Control of Robots[J].Journal of System Simulation,2005,17(1):166-169. |
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| Authors: | ZHANG Li-ping YANG Fu-wen |
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| Abstract: | A special type of iterative learning control (ILC) problem is considered, which deals with the point-to-point control of robots. Fuzzy control design method is introduced to solving the special iterative learning control problem. First, the Takagi-Sugeno (TS) fuzzy model is employed to approximate a robot system. Next, based on the fuzzy model, a fuzzy iterative learning controller design is carried out via the so-call parallel distributed compensation (PDC) approach. To avoid the necessity of exactly reinitializing the system at each iteration, the basic method is modified so as to obtain a cyclic iterative learning controller. Finally, simulation results for the repositioning control of one link robot moving on a vertical plane are presented to demonstrate the effectiveness of the proposed scheme. |
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| Keywords: | T-S fuzzy model iterative learning control point-to-point control MATLAB simulation |
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