| 引用本文: | 胡跃明,谭慧琼,李 迪.基于非线性系统相对度的学习控制算法及在非完整移动机器人中的应用[J].控制理论与应用,2001,18(5):662~668.[点击复制] |
| HU Yue-ming,TAN Hui-qiong,LI Di.Learning Control Algorithm Based on Relative Degree of Nonlinear Systems with Application to Nonholonomic Mobile Robots[J].Control Theory and Technology,2001,18(5):662~668.[点击复制] |
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| 基于非线性系统相对度的学习控制算法及在非完整移动机器人中的应用 |
| Learning Control Algorithm Based on Relative Degree of Nonlinear Systems with Application to Nonholonomic Mobile Robots |
| 摘要点击 1226 全文点击 1254 投稿时间：1999-09-17 修订日期：2000-09-04 |
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| DOI编号 |
| 2001,18(5):662-668 |
| 中文关键词 移动机器人 学习控制 相对度 轨迹跟踪 非完整力学系统 |
| 英文关键词 mobile robots learning control relative degree trajectory tracking nonholonomic mechanical systems |
| 基金项目 国家863计划智能机器人主题(9805-19); 国家自然科学基金(69974015); 广东省自然科学基金(990583)资助项目. |
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| 中文摘要 |
| 首先提出了一种基于非线性系统相对度的迭代学习控制算法, 并证明了其收敛性. 该算法通过对系统以前的输入和输出跟踪误差信号进行学习来反复调整输入量, 使得系统在经过一定次数的学习以后, 其实际输出趋于期望输出且其内部状态也具有良好的收敛特性. 其次将此算法应用于两轮驱动的移动机器人动力学系统, 数值仿真结果表明了这种算法的有效性. |
| 英文摘要 |
| This paper addresses the learning control problem of nonlinear control systems. Based on the relative degree of nonlinear systems, an iterative learning control algorithm is proposed and the convergence is also proved. The proposed scheme adjusts the control input repeatedly by using the input and output tracking error signal of the previous operation until perfect tracking is achieved. The algorithm is then applied to a two wheel steering nonholonomic mobile robot, and numerical simulations are performed to show its efficiency. |