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《Journal of University of Science and Technology Liaoning》 2009-04
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Application of fuzzy iterative learning in movement control of singlejoint robot

LIU Zhi-xue,WU Li-juan(School of Electronic and Information Engineering,University of Science and Technology Liaoning,Anshan 114051,China)  
This paper proposed a way of the iterative learning control integrating with fuzzy control.The fuzzy compensation is used to increase the convergence speed of the iterative learning control and guarantee the stability of system.Simulations of a simple-joint robot show that the error is reduced 70% in the first learning period of "inexperience" by fuzzy iterative learning control,and the error of output is also reduced to 0 gradually.The tracking performance has great improvement and the tracking precision is significantly increased.
【CateGory Index】: TP242
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