自动化学报2023，Vol.49Issue(12)：2594-2604,11.DOI:10.16383/j.aas.c200701
机械臂变长度误差跟踪迭代学习控制
Error-Tracking Iterative Learning Control for Robot Manipulators With Iteration Varying Lengths
摘要
Abstract
In this paper,an error-tracking iterative learning control(ILC)scheme with iteration varying length is proposed for the trajectory tracking of robot manipulators with arbitrary initial shifts.Firstly,a hyperbolic cosine-shaped desired error trajectory independent of the desired trajectory is constructed to relax the identical initial con-dition requirement in traditional iterative learning control.In the presented desired error trajectory,only one con-stant parameter needs to be set in prior,such that the computation can be reduced,and the design of the desired error trajectory becomes simpler.Then,the problem that the operating range of the robot manipulator varies with the number of iterations is investigated,and an error compensation mechanism is established to compensate for the error information of the non-operation intervals by defining virtual error variables.Consequently,the identical iter-ative length condition in traditional iterative learning control can be relaxed.Based on the Lyapunov-like theory,an iterative learning controller and a fully saturated learning law are designed to guarantee that the joint position of the robot manipulator could track the given desired trajectory in the specified interval and the boundedness of the estimation of the unknown parameters,respectively.Numerical simulation results are provided to demonstrate the effectiveness of the proposed scheme.关键词
迭代学习控制/误差跟踪/变迭代长度/机械臂Key words
Iterative learning control(ILC)/error-tracking/iteration varying lengths/robot manipulator引用本文复制引用
陈强,陈凯杰,施卉辉,孙明轩..机械臂变长度误差跟踪迭代学习控制[J].自动化学报,2023,49(12):2594-2604,11.基金项目
国家自然科学基金(62222315,61973274,62073291),教育部重点实验室开放项目基金(GDSC202010)资助Supported by National Natural Science Foundation of China(62222315,61973274,62073291)and Ministry of Education Key Laboratory Open Project Fund(GDSC202010) （62222315,61973274,62073291）
