2.845

2023影响因子

(CJCR)

  • 中文核心
  • EI
  • 中国科技核心
  • Scopus
  • CSCD
  • 英国科学文摘

留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

时变机器人系统的重复学习控制: 一种混合学习方案

孙明轩 何熊熊 陈冰玉

孙明轩, 何熊熊, 陈冰玉. 时变机器人系统的重复学习控制: 一种混合学习方案. 自动化学报, 2007, 33(11): 1189-1195. doi: 10.1360/aas-007-1189
引用本文: 孙明轩, 何熊熊, 陈冰玉. 时变机器人系统的重复学习控制: 一种混合学习方案. 自动化学报, 2007, 33(11): 1189-1195. doi: 10.1360/aas-007-1189
SUN Ming-Xuan, HE Xiong-Xiong, CHEN Bing-Yu. Repetitive Learning Control for Time-varying Robotic Systems: A Hybrid Learning Scheme. ACTA AUTOMATICA SINICA, 2007, 33(11): 1189-1195. doi: 10.1360/aas-007-1189
Citation: SUN Ming-Xuan, HE Xiong-Xiong, CHEN Bing-Yu. Repetitive Learning Control for Time-varying Robotic Systems: A Hybrid Learning Scheme. ACTA AUTOMATICA SINICA, 2007, 33(11): 1189-1195. doi: 10.1360/aas-007-1189

时变机器人系统的重复学习控制: 一种混合学习方案

doi: 10.1360/aas-007-1189
详细信息
    通讯作者:

    孙明轩

Repetitive Learning Control for Time-varying Robotic Systems: A Hybrid Learning Scheme

More Information
    Corresponding author: SUN Ming-Xuan
  • 摘要: Repetitive learning control is presented for finite-time-trajectory tracking of uncertain time-varying robotic systems. A hybrid learning scheme is given to cope with the constant and time-varying unknowns in system dynamics, where the time functions are learned in an iterative learning way, without the aid of Taylor expression, while the conventional differential learning method is suggested for estimating the constant ones. It is distinct that the presented repetitive learning control avoids the requirement for initial repositioning at the beginning of each cycle, and the time-varying unknowns are not necessary to be periodic. It is shown that with the adoption of hybrid learning, the boundedness of state variables of the closed-loop system is guaranteed and the tracking error is ensured to converge to zero as iteration increases. The effectiveness of the proposed scheme is demonstrated through numerical simulation.
  • 加载中
计量
  • 文章访问数:  2987
  • HTML全文浏览量:  105
  • PDF下载量:  1619
  • 被引次数: 0
出版历程
  • 收稿日期:  2006-07-21
  • 修回日期:  2007-03-30
  • 刊出日期:  2007-11-20

目录

    /

    返回文章
    返回