关键词: 机器人, 轨迹跟踪, 迭代学习控制, 滑模控制, 有限时间控制

Abstract:

A nonlinear iterative learning control algorithm based on sliding surface is proposed for the trajectory tracking control system of industrial robot with arbitrary initial value, which enables the robot trajectory to track the desired trajectory quickly and accurately. Based on the principle of finite time convergence, an iterative sliding surface about the trajectory tracking error is constructed. In the sliding surface, the trajectory tracking error of robot converges to zero in a predetermined time. An iterative learning control algorithm based on the sliding surface is designed. It is proved that with the increase of iteration times, the trajectory in arbitrary initial state will converge to the sliding surface uniformly, and arbitrary initial value problem is solved in learning. The effectiveness and anti-jamming ability of the algorithm are verified by numerical simulation.

Key words: robot, trajectory tracking, iterative learning control, sliding mode control, finite time control