双线性型迭代学习控制算法

Bilinear type Iterative Learning Control Algorithms

基于迭代学习控制中的开闭环配合方案，本文提出了一类双线性型学习控制算法．针对刚性关节机器人动力学特性，文中给出了保证算法迭代收敛性的充分条件．仿真结果表明，适当选取双线性学习控制成分的增益矩阵可加速收敛过程．

Combining the open loop and closed loop learning control algorithms, in this paper, a bilinear type iterative learning control scheme is presented. The sufficient condition for convergence of the learning control for robotic manipulators is provided. Finally,we present a numerical example to show the tracking performance of the presented learning control scheme.