Arranging transient process used in iterative learning control system

作     者：Li-chuan Hui, Hui Lin School of Automation, Northwestern Polytechnical University, Xi’an 710129, China. 

作者机构：School of Automation Northwestern Polytechnical University Xi'an 710129 China 

出 版 物：《Journal of Pharmaceutical Analysis》 (药物分析学报（英文版）)

年 卷 期：2009年第21卷第1期

页      面：42-45页

学科分类：08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

主　　题：iterative learning initial state transient process robot system 

摘      要：Considering the same initial state error in each repetitive operation in the iterative learning system, a method of arranging the transient process is given. During the current iteration, the system will track the transient function firstly, and then the expected trajectory. After several iterations, the learning system output will trend to the arranged curve, which has avoided the effect of the initial error on the controller. Also the transient time can be changed as you need, which makes the designing simple and the operation easy. Then the detailed designing steps are given via the robot system. At last the simulation of the robot system is given, which shows the validity of the method.