海军航空工程学院学报2011，Vol.26Issue(6)：606-610,616,6.
基于终态滑模的机械臂自适应迭代学习控制
Adaptive Iterative Learning Control for Robot Manipulators Based on Terminal Sliding Mode
摘要
Abstract
In this paper, an adaptive iterative learning control was presented for robot manipulators with unknown parameters, performing repetitive tasks. In order to overcome the initial resetting errors, terminal sliding mode and initial rectified attractors were introduced, which realized finite time convergence. The adaptive algorithm was derived along the iteration axis to search for suitable parameter values. The technicalanalysis showed convergence of the tracking error and the bounded-ness of the internal signals. Finally, simulation results were provided to illustrate the effectiveness of the proposed controller.关键词
自适应迭代学习控制/机械臂/重置误差/终态滑模Key words
adaptive iterative learning control （AILC） manipulator/initial resetting errors/terminal sliding mode分类
航空航天引用本文复制引用
胡云安,韦建明,杨秀霞..基于终态滑模的机械臂自适应迭代学习控制[J].海军航空工程学院学报,2011,26(6):606-610,616,6.基金项目
国家自然科学基金资助项目 （）
山东自然科学基金资助项目 （）
