Iterative learning control - an identification oriented approach
Iterative learning control - an identification oriented approach
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迭代学习控制 - 一种面向识别的方法
DOI：
10.1109/sice.2002.1195823
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
K. Hamamoto
中科院分区：
文献类型：
--
作者：
T. Sugie;K. Hamamoto
提出了一种新的迭代学习控制方法，该方法在有限维输入子空间中搜索期望输入。该方法在学习律中不使用跟踪误差信号的时间导数，实现了对一类不确定系统的完美跟踪。该方法的一个显著特点是它是一种面向辨识的方法，而不是一种纯粹的基于I/O信号（或无模型）的方法。
Introduces a new type of iterative learning control (ILC) which seeks the desired input in an appropriate finite dimensional input subspace. The method achieves perfect tracking for a class of uncertain systems without using time derivative of tracking error signals in the learning law. Its effectiveness is demonstrated by experiment using a two-link direct drive arm. One of the distinguish features of this method is that it is regarded as an identification oriented method rather than a pure I/O signal based (or model free) one.