摘要：针对二自由度机械臂非线性系统,迭代学习控制(iterative learning control,ILC)对于具有重复运动特性的机械臂有较好的控制效果。在扰动的情况下,设计了一种PD型迭代学习控制律,随着系统迭代次数的不断增加,通过在区间内对增益矩阵进行实时修改来缩短所需的修正区间,进而达到加快收敛速度的目的。首先,结合λ范数分析ILC的收敛性。其次,通过仿真验证所提出控制策略的可行性和有效性。最后,在相同条件下,仿真结果表明,PD型ILC收敛速度比P型ILC更快;带有扰动的PD型ILC比传统扰动型PD控制收敛效果更好。

摘要：进行了五步离散归零神经网络算法的稳定性分析,证明了其收敛阶为O(τ4)。针对二连杆机械臂轨迹生成问题,设计了五步离散归零神经网络控制器,与欧拉离散归零神经网络控制器进行了对比实验研究。

摘要：The disguised covert detection method that imitates whale calls has received great attention in recent years because it can solve the traditional problem of the trade-off between long-range detection and covert ***,under strong reverberation conditions,traditional echo signal processing methods based on matched filtering will be greatly *** on this,a disguised sonar signal waveform design is proposed based on imitating whale calls and computationally efficient anti-reverberation echo signal processing ***,this article proposed a disguised sonar signal waveform design method based on imitating whale *** method uses linear frequency modulation(LFM)signals to replace LFM-like segments in real whale calls,and extracts the envelope of the real whale call’s LFM-like segment to modify the LFM ***,this article proposed an echo signal processing method of fractional Fourier transform(FrFT)based on target echo locating of synchronization *** method uses the synchronization signal to locate the target echo,and determines the step-size interval of the FrFT based on the information carried by the synchronization *** with the traditional FrFT,this method effectively reduces the amount of calculation and also improves the anti-reverberation ***,the excellent performance of the proposed method is verified by simulation results.

摘要：针对任意初态误差,在时间轴上设计一段随迭代次数增加而缩短的修正区间。结合迭代学习控制算法,机械臂在每次迭代时无需重置初始条件,经过多次迭代学习后,实现跟踪误差渐近收敛于零。在λ范数意义下,证明迭代学习控制算法的收敛性,仿真结果验证该方法的可行性和有效性。