The Research on Robust Movement Control of Robot Based on Fuzzy Iterative Learning Control

被引：1

作者：

Wu, Lijuan ^{[1
]}

Chen, Xuebo ^{[1
]}

机构：

[1] Univ Sci & Technol Liaoning, Sch Elect & Informat Engn, Anshan 114051, Peoples R China

来源：

2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2010年

关键词：

robot; iterative learning control; fuzzy control;

D O I：

10.1109/WCICA.2010.5554172

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In iterative learning control, several times iterative learning are needed to make the system tracking error converge, and before the system tracking error converge, tracking precision is not very high, especially in the first learning period of "inexperience". In order to solve that problem, integrating with fuzzy control, a fuzzy iterative learning control is proposed, and fuzzy control is used to compensate iterative learning control. The convergence and robustness of this fuzzy iterative learning control is proved by simulation of a double joint robot model.

引用

页码：878 / 882

页数：5