自适应鲁棒迭代学习控制在陶瓷机械手中的应用

APPLICATION OF ADAPTIVE ROBUST ITERATIVE LEARNING CONTROL TO CERAMIC MANIPULATORS

针对一类不确定非线性系统,结合自适应鲁棒控制和迭代学习控制方法,提出了自适应鲁棒迭代学习混合控制策略。学习控制策略用于处理周期性不确定,自适应鲁棒控制策略用于处理具有未知上界的非周期性不确定。所提出的控制方案保证跟踪误差在有限的迭代步骤内收敛到任意指定的误差区域。最后将此控制策略应用于陶瓷机械手的控制,仿真结果表明此方法的有效性。

An adaptive robust control method is presented for the control of a class of nonlinear uncertain systems. The iterative learning control strategy is applied directly to deal with periodic system uncertainties. The adaptive robust control strategy is used to handle non-periodic system uncertainties associated with partially known bounding functions . The scheme proposed guarantees that the tracking error converges a pre-specified error bound within finite iterations. Simulation demonstrates the effectiveness of the method.