Stability Analysis for Iterative Learning Control and its Application to Manipulators
机器人自学习控制的稳定性分析方法及其应用

This paper presents a stability criterion for design iterative learning controller.From the criterion,one can change the design problem into finding a positive definite discrete matrix kernel.It has been shown that(1) what kind of variable can be controlled by the iterative learning,(2) and what kind of filter can be included into the controller.As an example,we have designed a parameter learning controller for manipulator trajectory tracking which leads to a perfect learning.