【摘要】 本文通过对迭代学习控制机理的分析,提出了一种新的迭代学习控制方法.根据 Banach 不动点定理和高增益反馈原理,给出了这种方法的稳定条件,证明了这种学习控制器的设计问题可以转化为反馈控制器的设计问题.文中讨论了这种方法在机器人控制中的应用问题,给出了对三自由度机器人的仿真结果.更多还原

【Abstract】 In this paper an iterative learning control scheme is proposed.The stability criterion of the scheme isproved by using Banach Fixed-Point Theorem.From the view point of “high-gain feedback”,the design ofthe learning controllers can be transformed into the design of feedback controllers.The problem of using thescheme to control robotic manipulators with three degrees of freedom is considered and the simulation resultsare given.更多还原