Iterative Learning Control of Exponential Variable Gain Based on Initial State Learning for Upper Limb Rehabilitation Robot

doi:10.1109/CAC48633.2019.8996317

	Iterative Learning Control of Exponential Variable Gain Based on Initial State Learning for Upper Limb Rehabilitation Robot
	Li, Yafeng; An, Aimin; Wang, Jinlei; Zhang, Haochen
	2019-11-01
会议日期	November 22, 2019 - November 24, 2019
会议地点	Hangzhou, China
DOI	10.1109/CAC48633.2019.8996317
页码	4947-4952
英文摘要	Electrical and Control Engineering, Lanzhou, China Trajectory tracking problem for a nonlinear system of upper limb rehabilitation robot over a finite time interval, an exponential variable gain D-type Iterative Learning Control(ILC) law with initial variable learning is designed. The method uses closed-loop ILC with exponential variable gain for both the control input and the the initial value of the system. Based on the operator theory, the convergence of the system with arbitrary initial state under the ILC is strictly proved. At the same time, the sufficient conditions for the convergence spectrum radius form of the ILC method are given. Compared with the ILC of fixed gain, the control method not only accelerates the convergence speed, but also solves the problem that the ILC requires strict repetition of the start state. Finally, the control effect of this method is verified by experimental simulation, the application of the control method in trajectory tracking of rehabilitation robot has achieved good control effect.. © 2019 IEEE.
会议录	Proceedings - 2019 Chinese Automation Congress, CAC 2019
会议录出版者	Institute of Electrical and Electronics Engineers Inc.
语种	英语
内容类型	会议论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/117960]
专题	电气工程与信息工程学院
作者单位	Lanzhou University of Technology Key Laboratory of Gansu Advanced Control for Industrial Processes, National Experimental Teaching Center of Electrical and Control Engineering, College of Electrical and Information Engineering, Lanzhou, China
推荐引用方式 GB/T 7714	Li, Yafeng,An, Aimin,Wang, Jinlei,et al. Iterative Learning Control of Exponential Variable Gain Based on Initial State Learning for Upper Limb Rehabilitation Robot[C]. 见:. Hangzhou, China. November 22, 2019 - November 24, 2019.