Transient performance is an important measurement index for robot manipulators in trajectory tracking task. 对于机器人轨迹跟踪任务而言,动态性能是衡量系统控制性能的重要指标。
In order to enhance learning efficiency and obtain faster and more accuracy transient tracking performances in iterative domain, a PID type fast parameter optimal iterative learning control algorithm based on norm performance index is founded in this paper. 为了实现迭代域中误差的快速、单调收敛,获得更好的暂态跟踪性能,本文针对离散系统建立一种基于范数性能指标的PID型快速参数优化迭代学习控制算法。