仿射非线性系统自学习控制器的研究

陆璐, 李天石, 史维祥. 仿射非线性系统自学习控制器的研究[J]. 机器人, 1999, 21(1): 64-68.

引用本文:

陆璐, 李天石, 史维祥. 仿射非线性系统自学习控制器的研究[J]. 机器人, 1999, 21(1): 64-68.

LU Lu, LI Tianshi, SHI Weixiang. RESEARCH ON AFFINE NONLINEAR SYSTEM LEARNING CONTROLLER[J]. ROBOT, 1999, 21(1): 64-68.

Citation:

LU Lu, LI Tianshi, SHI Weixiang. RESEARCH ON AFFINE NONLINEAR SYSTEM LEARNING CONTROLLER[J]. ROBOT, 1999, 21(1): 64-68.

RESEARCH ON AFFINE NONLINEAR SYSTEM LEARNING CONTROLLER

摘要: 提出了一种针对仿射非线性系统的学习控制新算法，给出该算法收敛性证明．将该算法用于两连杆机械手的轨迹跟踪，仿真结果表明该算法能达到很高的控制精度．

Abstract: This paper presents a learning controller of affine nonlinear control system and gives its convergence proof.This controller is applied to the tracking control of a two link robot manipulator,and good tracking performance is obtained in the simulation.

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