Rapid ILC control of manipulator trajectory tracking with initial error
带有初始误差的机械手轨迹跟踪的快速迭代学习控制

A discussion was made on the control of tracking for n joint manipulator systems with initial error.First,corresponding systems were turned into lower order systems by reduction change and then the lower order systems were redesigned,which could eliminate the limitation that the initial state of each iterative must be equal to its ideal value in Kawamura's method or fixed.Second,a new rapid iterative learning algorithm was proposed to control the transformed system.It made the best of effective information ...