PD iterative self-learning control for 3R plane robot trajectory tracking
文献类型：期刊论文
| 作者 | Gao HW(高宏伟) ; Hong, Kun; Liu JG(刘金国); Leng YQ(冷雨泉); Liu CY(刘传银)
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| 刊名 | Telkomnika - Indonesian Journal of Electrical Engineering
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| 出版日期 | 2013 |
| 卷号 | 11期号:10页码:5945-5953 |
| 关键词 | PD iterative control self-learning planar 3-link trajectory tracking |
| ISSN号 | 2302-4046 |
| 产权排序 | 1 |
| 中文摘要 | In order to improve the speed and accuracy of the trajectory tracking control for 3R plane robot, a PD iterative self-learning control algorithm is proposed based on the PD iterative control algorithm. The error of target value and the actual value of this iteration is introduced into the PD learning gain to make the PD learning gain becomes a function of the error and to achieve the effect of self-learning. Simulation analysis of planar 3-link robot trajectory control shows that the proposed algorithm is better than unmodified in speed ability and accuracy. © 2013 Universitas Ahmad Dahlan. |
| 收录类别 | EI |
| 语种 | 英语 |
| 公开日期 | 2014-12-29 |
| 源URL | [http://ir.sia.cn/handle/173321/15437]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 推荐引用方式 GB/T 7714 | Gao HW,Hong, Kun,Liu JG,et al. PD iterative self-learning control for 3R plane robot trajectory tracking[J]. Telkomnika - Indonesian Journal of Electrical Engineering,2013,11(10):5945-5953. |
| APA | Gao HW,Hong, Kun,Liu JG,Leng YQ,&Liu CY.(2013).PD iterative self-learning control for 3R plane robot trajectory tracking.Telkomnika - Indonesian Journal of Electrical Engineering,11(10),5945-5953. |
| MLA | Gao HW,et al."PD iterative self-learning control for 3R plane robot trajectory tracking".Telkomnika - Indonesian Journal of Electrical Engineering 11.10(2013):5945-5953. |
入库方式： OAI收割
来源：沈阳自动化研究所
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