SIA OpenIR  > 沈阳自动化所知识产出(2000年前)
基于内模的机器人迭代学习控制
Alternative TitleAN ITERATIVE LEARNING CONTROL FOR MANIPULATORS BASED ON INTERNAL MODEL
徐进学; 吴海; 柴天佑; 谈大龙
Department中国科学院沈阳自动化研究所
Source Publication机器人
ISSN1002-0446
1998
Volume20Issue:6Pages:401-406
Indexed ByCSCD
CSCD IDCSCD:445603
Contribution Rank2
Funding Organization国家自然科学基金
Keyword机器人 运动控制 迭代学习 内模控制
Abstract本文根据内模控制的概念,设计一个扰动控制器,使机器人系统表现为固定参数的解耦线性化系统.基于此线性系统,提出了一种迭代学习控制律,给出了算法收敛的充分条件.算法的参数选择非常简单,从而易于满足收敛条件.仿真结果表明了算法的有效性.
Other AbstractIn this paper, a disturbance controller is designed for making robotic system behave as a decoup1ed linear system according to the concept of internal mode1.Based on the linear system-the paper presents an iterative learning control algorithm for robotic manipulators.A sufficient condition for convergence is provided.The parameter choice of the algorithm is simple and easy to meet the convergence condition.The simulation results demonstrate the effectiveness of the algorithm.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/15703
Collection沈阳自动化所知识产出(2000年前)
Affiliation1.东北大学自动化研究中心
2.东北大学控制与仿真中心
3.中国科学院沈机器人学开放研究实验室
Recommended Citation
GB/T 7714
徐进学,吴海,柴天佑,等. 基于内模的机器人迭代学习控制[J]. 机器人,1998,20(6):401-406.
APA 徐进学,吴海,柴天佑,&谈大龙.(1998).基于内模的机器人迭代学习控制.机器人,20(6),401-406.
MLA 徐进学,et al."基于内模的机器人迭代学习控制".机器人 20.6(1998):401-406.
Files in This Item: Download All
File Name/Size DocType Version Access License
基于内模的机器人迭代学习控制.pdf(191KB) 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[徐进学]'s Articles
[吴海]'s Articles
[柴天佑]'s Articles
Baidu academic
Similar articles in Baidu academic
[徐进学]'s Articles
[吴海]'s Articles
[柴天佑]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[徐进学]'s Articles
[吴海]'s Articles
[柴天佑]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 基于内模的机器人迭代学习控制.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.