【摘要】 在机器人的轨迹跟踪的迭代学习控制中,迭代学习的学习律难以选择,本文结合自校正控制、模糊逻辑和迭代学习控制的基本思想,提出采用自适应模糊控制确定学习率的方法,并采用Matlab软件的Simulink对该方法应用于机器人高精度的轨迹跟踪控制的情况进行了仿真研究,结果表明该方法具有学习控制律简单实用、跟踪精度高、学习速度快、鲁棒性强等优点。更多还原

【Abstract】 In the control of trajectory of roblts based on iterative learning control, the learning control principle is difficult to choose. With research into the fundamental views of self_correcting control, fuzzy logic, and iterative learning control, this paper advances a new type of fuzzy iterative learning control method, and simulates the process in which the new method is applied in the high precision trajectory control of robots. The result of simulation shows that the control method is easy to use, and with high precise in trajectory, fast speed in learning, and good robustness.更多还原