| 基于傅里叶级数的非线性学习控制算法 |
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| 引用本文： | 唐小琦,周济,蔡李隆. 基于傅里叶级数的非线性学习控制算法[J]. 华中科技大学学报(自然科学版), 1999, 27(2): 273 |
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| 作者姓名： | 唐小琦 周济 蔡李隆 |
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| 作者单位： | 华中理工大学机械科学与工程学院，香港科技大学 |
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| 摘 要： | 提出了一种基于傅里叶级数的非线性学习控制算法．当系统的任务可重复或系统的理想输出为周期函数时，在傅里叶空间内可以将时域内的轨迹跟踪问题简化为多个独立的调节器问题，因而大大简化学习控制器的设计．在滚珠丝杠工作台上的实验表明，这种学习控制器具有很快的收敛速度和令人满意的性能
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| 关 键 词： | 傅里叶级数；学习控制；轨迹跟踪 |
| 修稿时间： | 1998-09-10 |
Research of a Nonlinear and Learning Control Algorithm Based on Fourier Series |
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| Tang Xiaoqi Zhou Ji Cai Lilong. Research of a Nonlinear and Learning Control Algorithm Based on Fourier Series[J]. JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE, 1999, 27(2): 273 |
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| Authors: | Tang Xiaoqi Zhou Ji Cai Lilong |
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| Affiliation: | Tang Xiaoqi Zhou Ji Cai Lilong |
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| Abstract: | A nonlinear control learning algorithm based on Fourier series is proposed. When the system's task is repetitive or the desired trajectory is a period function, the tracking problem in time domain can be simplified as some regulation problems in Fourier space, resulting in great simplification of the controller. The experimental results in a NC table showed that the controller designed in Fourier space has fast convergent rate and satisfied closed loop performance. |
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| Keywords: | Fourier series learning controller trajectory tracking |
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