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《Transactions of China Electrotechnical Society》 2003-03
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Neural Network-Based Learning Control and Its Application for Robot

Yao Zhongshu Wu Jianrong Yang Chengwu (NanJing University of Science and Technology 210094 China)  
An iterative learning controller based on neural network learning is presented for trajectory-tracked task of a class of nonlinear systems.In the first part of the paper,sufficient condition for learning algorithm with forgetting factor is derived to guaratee convergence of learning system.In the second part of the paper,desired control input of iterative learning controller is estimated by neural networks incorporated experience for a new desired trajectory-tracked task.If the selection of initial control input has considered previous experience of the controller for a new desired trajectory tracked task,then convergence of error can be improved and accuracy of tracking can be full only few iterative number.Simulation examples of robot show their effectiveness.
【CateGory Index】: TP183;TP242
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