Simulation Study on Trajectory Tracking in Manipulator Based on the Iterative Learning Control Algorithm

摘要

There is a kind of problem about trajectory tracking in the actual control; its main task is to find the control law u(t), by which the output y(t) of the controlled plant can track the desired trajectory during the limited time interval [0,T] with zero error. Aiming at this kind of problem, the iterative learning control algorithm is proposed. In this algorithm, the control law u(t) is amended by the previous error information so that the repeated task can be done better in the next operation. Through this interaction, the output in the whole time interval can track the desired trajectory. In this paper, the iterative learning control algorithm is applied in the trajectory tracking system of manipulator, and the tracking results are simulated.