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本文通过对迭代学习控制机理的分析,提出了一种新的迭代学习控制方法.根据 Banach 不动点定理和高增益反馈原理,给出了这种方法的稳定条件,证明了这种学习控制器的设计问题可以转化为反馈控制器的设计问题.文中讨论了这种方法在机器人控制中的应用问题,给出了对三自由度机器人的仿真结果.
Based on the analysis of iterative learning control mechanism, a new iterative learning control method is proposed. According to Banach fixed point theorem and high gain feedback principle, the stability conditions of this method are given. It is proved that this learning controller The design problem can be transformed into the design problem of the feedback controller.This paper discusses the application of this method in the robot control and gives the simulation results of the robot with three degrees of freedom.