【摘要】 针对一类具有渐变特性的、在很大程度上具有重复性特点的轨迹的跟踪问题，提出了一种改进的迭代学习控制策略，并给出了理论上收敛性与稳定性的证明，进行了对算法的试验研究。理论和试验证明，该算法在要求的精度范围内拓展对初值与轨迹的完全重复性要求，并且是稳定和收敛的；用于加工中可以获得较高的跟踪精度。更多还原

【Abstract】 An improved iterative learning control algorithm for tracking slow varying and repetitive trajectory is proposed. The mathematical analyses for stability and convergence of the algorithm are also given. In addition, the experiment applying the presented algorithm on a complex trace tracking is processed. The theoretical analyses and experiment results show that the restricts on repetitive requirement for trajectory and initial condition as well as system dynamics are capable of being loosened at a certain accuracy requirement, and the system stability is still acquisitive. High accuracy is also achievable in machining.更多还原