Arranging transient process used in iterative learning control system / 西安交通大学学报·英文版

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, shows the validity of the method.