【摘要】 本文提出了一种新的迭代学习策略并详细报告了在 1台实验用机器人上的实验结果 .这个方法的特点是对于动力学参数未知的系统 ,可以通过实验方便地确定满足收敛条件的学习控制器参数 .因此 ,它具有实用价值 ,并有可能将其使用范围推广到除机器人规迹控制外的其它控制领域 .更多还原

【Abstract】 A new iterative learning algorithm is introduced for the robot trajectory control. The sufficient and necessary conditions for its convergence are established. In addition, a method to determine the learning gains through the experiment is also proposed based on a stability analysis of the system. The experiment shows the fast convergence of the proposed algorithm.更多还原