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PD iterative self-learning control for 3R plane robot trajectory tracking
Gao HW(高宏伟); Hong, Kun; Liu JG(刘金国); Leng YQ(冷雨泉); Liu CY(刘传银)
作者部门空间自动化技术研究室
关键词Pd Iterative Control Self-learning Planar 3-link Trajectory Tracking
发表期刊Telkomnika - Indonesian Journal of Electrical Engineering
ISSN2302-4046
2013
卷号11期号:10页码:5945-5953
收录类别EI
EI收录号20134016810308
产权排序1
摘要In order to improve the speed and accuracy of the trajectory tracking control for 3R plane robot, a PD iterative self-learning control algorithm is proposed based on the PD iterative control algorithm. The error of target value and the actual value of this iteration is introduced into the PD learning gain to make the PD learning gain becomes a function of the error and to achieve the effect of self-learning. Simulation analysis of planar 3-link robot trajectory control shows that the proposed algorithm is better than unmodified in speed ability and accuracy. © 2013 Universitas Ahmad Dahlan.
语种英语
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/15437
专题空间自动化技术研究室
通讯作者Gao HW(高宏伟)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, China
2.School of Information Science and Engineering, Shenyang Ligong University, China
推荐引用方式
GB/T 7714
Gao HW,Hong, Kun,Liu JG,et al. PD iterative self-learning control for 3R plane robot trajectory tracking[J]. Telkomnika - Indonesian Journal of Electrical Engineering,2013,11(10):5945-5953.
APA Gao HW,Hong, Kun,Liu JG,Leng YQ,&Liu CY.(2013).PD iterative self-learning control for 3R plane robot trajectory tracking.Telkomnika - Indonesian Journal of Electrical Engineering,11(10),5945-5953.
MLA Gao HW,et al."PD iterative self-learning control for 3R plane robot trajectory tracking".Telkomnika - Indonesian Journal of Electrical Engineering 11.10(2013):5945-5953.
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