SIA OpenIR  > 空间自动化技术研究室
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)
Department空间自动化技术研究室
Source PublicationTelkomnika - Indonesian Journal of Electrical Engineering
ISSN2302-4046
2013
Volume11Issue:10Pages:5945-5953
Indexed ByEI
EI Accession number20134016810308
Contribution Rank1
KeywordPd Iterative Control Self-learning Planar 3-link Trajectory Tracking
AbstractIn 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.
Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/15437
Collection空间自动化技术研究室
Corresponding AuthorGao HW(高宏伟)
Affiliation1.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
Recommended Citation
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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