【摘要】 针对一类非线性时变系统的迭代学习控制问题提出了一种开闭环PD型迭代学习控制律 .这种迭代律同时利用系统当前的跟踪误差和前次迭代控制的跟踪误差修正控制作用 ,即在开环迭代学习控制的基础上引入一反馈环形成反馈 前馈迭代学习控制律 ,提高系统的跟踪性能 .文中给出了使此迭代学习算法收敛的充分条件和必要条件 .最后 ,本文结果在机器人系统中的仿真应用表明了本文方法的可行性和有效性更多还原

【Abstract】 In this paper,an open closed loop PD type iterative learning control shceme for a class of nonlinear time varying system is proposed.In this scheme,the system courrent tracking error and previous tracking error are both used to update control input meanwhile.Namly,a feedback loop which based on open loop iterative learning control is introduced to form a feedback and feedfoward iterative learning control law to improve the system’s tracking performance.Then sufficient and necessary conditions for the convergence of the proposed learning scheme are given.And finally simulation for a robot system shows the feasibility and effectiveness of our conlusion.更多还原