AN Gang, ZHANG Lei, LIU Jing-tai, LU Gui-zhang. A SORT OF ITERATIVE LEARNING ALGORITHM FOR TRACKING CONTROL OF ROBOT TRAJECTORY[J]. ROBOT, 2001, 23(1): 36-39.
Citation:
AN Gang, ZHANG Lei, LIU Jing-tai, LU Gui-zhang. A SORT OF ITERATIVE LEARNING ALGORITHM FOR TRACKING CONTROL OF ROBOT TRAJECTORY[J]. ROBOT, 2001, 23(1): 36-39.
AN Gang, ZHANG Lei, LIU Jing-tai, LU Gui-zhang. A SORT OF ITERATIVE LEARNING ALGORITHM FOR TRACKING CONTROL OF ROBOT TRAJECTORY[J]. ROBOT, 2001, 23(1): 36-39.
Citation:
AN Gang, ZHANG Lei, LIU Jing-tai, LU Gui-zhang. A SORT OF ITERATIVE LEARNING ALGORITHM FOR TRACKING CONTROL OF ROBOT TRAJECTORY[J]. ROBOT, 2001, 23(1): 36-39.
A SORT OF ITERATIVE LEARNING ALGORITHM FOR TRACKING CONTROL OF ROBOT TRAJECTORY
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.
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