仿射非线性系统自学习控制器的研究

RESEARCH ON AFFINE NONLINEAR SYSTEM LEARNING CONTROLLER

提出了一种针对仿射非线性系统的学习控制新算法，给出该算法收敛性证明．将该算法用于两连杆机械手的轨迹跟踪。

This paper presents a learning controller of affine nonlinear control system and gives its convergence proof. This controller is applied to the tracking control of a two link robot manipulator, and good tracking performance is obtained in the simulation.