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Abstract: An improved iterative learning control algorithm for
tracking slow varying and repetitive trajectory is proposed. The
mathematical analyses for stability and convergence of the algorithm are
also given. In addition, the experiment applying the presented algorithm
on a complex trace tracking is processed. The theoretical analyses and
experiment results show that the restricts on repetitive requirement for
trajectory and initial condition as well as system dynamics are capable
of being loosened at a certain accuracy requirement, and the system
stability is still acquisitive. High accuracy is also achievable in
machining.
Key
word: Iterative learning control Repetitiveness Non-circular
machining
CLC No: TP273
西安交通大学科学研究基金资助项目.
Received 20010223,
received in revised form 20010620
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