关键词: 鲁棒性, 自适应迭代学习控制, CD播放器, 机械臂, 轨迹跟踪

Abstract: For the trajectory tracking of CD player arm,a new robust adaptive iterative learning control algorithm was presented.The CD player system structure was analyzed,the system model was established according to the characteristics of motion of mechanical arm,the trajectory tracking control scheme of mechanical arm was provided,and the robust adaptive iterative learning control algorithm was designed based on the structural characteristics of mechanical arm.The algorithm consisted of a variable gain PD controller,a feedforward learning controller and a robust control term.The variable gain PD control flexibly adjusted the control gain to guarantee the stability of the system status according to the gain switching technique,the feedforward learning control calculated the desired feedforward torque at each iterative step by a learning rule to compensate the model uncertainty,the robust control ensured the robustness of the system under external random disturbances.Experiments showed that the proposed control algorithm could accelerate the convergence and improve the tracking performance.

Key words: robust, adaptive iterative learning control, CD player, mechanical arm, trajectory tracking