ITERATIVE LEARNING CONTROL WITH FEEDBACK USING FOURIER-SERIES WITH APPLICATION TO ROBOT TRAJECTORY TRACKING

被引：19

作者：

LEE, JW

LEE, HS

BIEN, Z

机构：

[1] Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, Yusong-ku, Taejeon, 305-701

来源：

ROBOTICA | 1993年 / 11卷

关键词：

FOURIER SERIES; DYNAMIC SYSTEM; ITERATIVE LEARNING CONTROL; ROBOT TRAJECTORY TRACKING;

D O I：

10.1017/S0263574700016544

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The Fourier series is employed to approximate the input/output (I/O) characteristics of a dynamic system and, based on the approximation, a new learning control algorithm is proposed in order to find iteratively the control input for tracking a desired trajectory. The use of the Fourier series approximation of I/O renders at least a couple of useful consequences: the frequency characteristics of the system can be used in the controller design and the reconstruction of the system states is not required. The convergence condition of the proposed algorithm is provided and the existence and uniqueness of the desired control input is discussed. The effectiveness of the proposed algorithm is illustrated by computer simulation for a robot trajectory tracking. It is shown that, by adding a feedback term in learning control algorithm, robustness and convergence speed can be improved.

引用

页码：291 / 298

页数：8

共 30 条

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