摘要
为了在机器人这一强耦合非线性环境下能够快速并较好的完成跟踪任务,提出了一种变增益反馈D型迭代学习控制算法,并对其收敛性进行了分析与证明.此外,结合一个已有的机械手动力学模型,利用MATLAB工具分别使用传统的开、闭环迭代学习控制,以及反馈增益D型迭代学习控制进行仿真,对比分析跟踪性能与控制效果.分析与仿真结果表明:该方法具有良好的跟踪精度,且相较传统方法收敛速度更快,可用于机器人高精度轨迹控制.
In order to make robot, which is a strong coupling nonlinear system, quickly achieve trajectory tracking task, we propose an iterative learning control algorithm with switching gain D- type feedback, and the convergence of this algorithm is analyzed and proved. Besides, combining with an existing robot dynamics model,we make simulations respectively with open loop iterative learning control, closed loop iterative learning control, and iterative learning control with switching gain D-type feedback using MATLAB tools, then the tracking performance and control effect are analyzed comparatively. The results show that this algorithm has better tracking accuracy and faster convergence rate compared to traditional algorithm. It can be used in the high- precision trajectory control for robot.
出处
《浙江工业大学学报》
CAS
2014年第2期214-218,共5页
Journal of Zhejiang University of Technology
基金
国家自然科学基金资助项目(61202203)
浙江省自然科学基金资助项目(LY12F01023)
关键词
迭代学习控制
D型反馈控制
变增益
收敛性分析
轨迹跟踪
iterative learning control system
D-type feedback control
switching gain
convergence analysis
trajectory tracking
