Robust Learning Control for Manipulators with Uncertainty Disturbances Based on Internal Model
文献类型：期刊论文
| 作者 | Chai TY(柴天佑); Tan DL(谈大龙); Xu JX(徐进学) |
| 刊名 | 沈阳化工学院学报
 |
| 出版日期 | 1999 |
| 卷号 | 13期号:1页码:55-61 |
| 关键词 | Robot Motion Control Iterative Learning Internal Model Control |
| ISSN号 | 1004-4639 |
| 其他题名 | 具有不确定扰动的机器人基于内模的鲁棒学习控制 |
| 产权排序 | 1 |
| 英文摘要 | In this paper, a disturbance controller is designed for making robotic system behave as a decoupled linear system according to the concept of internal model. Based on the linear system, the paper presents an iterative learning control algorithm to robotic manipulators. A sufficient condition for convergence is provided. The selection of parameter values of the algorithm is simple and easy to meet the convergence condition. The simulation results demonstrate the effectiveness of the algorithm.. |
| 语种 | 英语 |
| 公开日期 | 2010-11-29 |
| 源URL | [http://210.72.131.170//handle/173321/1247]  |
| 专题 | 沈阳自动化研究所_沈阳自动化所知识产出(2000年前) |
| 通讯作者 | Xu JX(徐进学) |
| 作者单位 | 1.Automation Research Center, Northeastern University 2.Robotics Laboratory, Shenyang Institute of Automation, The Chinese Academy of Science 3.Shenyang Institute of Chemical Technology |
| 推荐引用方式 GB/T 7714 | Chai TY,Tan DL,Xu JX. Robust Learning Control for Manipulators with Uncertainty Disturbances Based on Internal Model[J]. 沈阳化工学院学报,1999,13(1):55-61. |
| APA | Chai TY,Tan DL,&Xu JX.(1999).Robust Learning Control for Manipulators with Uncertainty Disturbances Based on Internal Model.沈阳化工学院学报,13(1),55-61. |
| MLA | Chai TY,et al."Robust Learning Control for Manipulators with Uncertainty Disturbances Based on Internal Model".沈阳化工学院学报 13.1(1999):55-61. |
入库方式： OAI收割
来源：沈阳自动化研究所
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