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
会议名称	2019 Chinese Automation Congress, CAC 2019
会议录名称	Proceedings - 2019 Chinese Automation Congress, CAC 2019
页码	4947-4952
会议日期	November 22, 2019 - November 24, 2019
会议地点	Hangzhou, China
出版者	Institute of Electrical and Electronics Engineers Inc.
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.
DOI	10.1109/CAC48633.2019.8996317
收录类别	EI
语种	英语
EI入藏号	20201008253191
来源库	Compendex
引用统计	被引频次：1[WOS] [WOS记录] [WOS相关记录]
文献类型	会议论文
条目标识符	https://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
第一作者单位	兰州理工大学
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]:Institute of Electrical and Electronics Engineers Inc.,2019:4947-4952.