| 改进的 PD 迭代学习算法及在机器人二维运动控制中的应用 |
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| 引用本文： | 沈钺,周福章,董秀林,朱杉,秦平.改进的 PD 迭代学习算法及在机器人二维运动控制中的应用[J].河南科技大学学报(自然科学版),1998(3). |
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| 作者姓名： | 沈钺 周福章 董秀林 朱杉 秦平 |
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| 摘 要： | 提出一种改进的ＰＤ型迭代学习控制算法，讨论了学习因子的优化选取方法。并对机器人二维运动控制进行了仿真。仿真结果表明：该控制方法应用于机器人二维轨迹控制简单易行，效果较好。
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| 关 键 词： | 机器人 学习控制 智能控制 二维轨迹运动 |
A Learning Control Method Based on the Principle of PD Regulator for Robot Control with Two Degree of Freedom |
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| Shen Yue,Zhou Fuzhang,Dong Xiulin,Zhu Shan,Qin Ping.A Learning Control Method Based on the Principle of PD Regulator for Robot Control with Two Degree of Freedom[J].Journal of Henan University of Science & Technology:Natural Science,1998(3). |
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| Authors: | Shen Yue Zhou Fuzhang Dong Xiulin Zhu Shan Qin Ping |
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| Abstract: | A learning control method based on the principle of P and PD regulator for robot repeated trajectory control is presented in this paper.The way of selecting learning factor of PD learning control algorithm is discussed.These results are tested by experiments. |
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| Keywords: | Robot Learning control Intelligent control Two degree of freedom |
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