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非线性机械臂位置跟踪控制的研究

致谢第4-5页
摘要第5-7页
Abstract第7-8页
Chapter 1 Introduction第15-19页
    1.1 Purpose and Significance of the Research第15-16页
    1.2 Position Control of Robotic Arm第16-17页
    1.3 Overview of the Thesis第17-19页
Chapter 2 Literature Review第19-39页
    2.1 Background of Fractional Order Calculus第19-20页
    2.2 Significance of Fractional Order Modeling and Control第20-22页
    2.3 Iterative Learning Control till now第22-23页
    2.4 Advantages of ILC第23-24页
        2.4.1 Structural Simplicity第23页
        2.4.2 Achievement of the Perfect Tracking第23页
        2.4.3 Model-Free Nature第23-24页
        2.4.4 Availability of Non-Causal Signals第24页
    2.5 ILC Notations第24-26页
    2.6 ILC Types第26-36页
        2.6.1 Normed Optimal ILC第26-28页
        2.6.2 Predictive ILC第28页
        2.6.3 Point to Point ILC第28-31页
        2.6.4 Terminal Iterative Learning Control (TILC)第31-32页
        2.6.5 Adaptive ILC第32-34页
        2.6.6 Robust ILC第34-35页
        2.6.7 2D Model based ILC第35-36页
        2.6.8 P, PD or PID ILC第36页
        2.6.9 Evolutionary Algorithm第36页
    2.7 Application Specific ILC Problems第36-37页
        2.7.1 High Precision Motion Systems第37页
        2.7.2 Robotics第37页
        2.7.3 Miscellaneous第37页
    2.8 Existed Difficulties for ILC第37-38页
        2.8.1 Mechanical Flexibility Problem第37-38页
        2.8.2 Problems and Issues in Point to Point ILC第38页
    2.9 Comparison between ILC and Fractional Order Control第38-39页
Chapter 3 Fractional Order Modeling of Robotic Arm第39-52页
    3.1 Stability Condition of Fractional Order System第40页
    3.2 Output Error Method for Identification of Fractional Order Model第40-42页
    3.3 Fractional Order Modeling of Robotic Arm havingFlexibilities第42-46页
        3.3.1 Fractional Order Model Identification第44-46页
        3.3.2 Stability Analysis of Identified Model第46页
    3.4 Fractional Order Modeling of 2 Link Robotic Arm第46-52页
        3.4.1 Fractional Order Model Identification第48-50页
        3.4.2 Stability Analysis of Identified Model第50-52页
Chapter 4 Fractional Order Control of Robotic Arm第52-83页
    4.1 Fractional Order PID Controller第52-53页
    4.2 Optimization Techniques for Controller Paramters Tuning第53-57页
        4.2.1 Nelder-Mead (N-M)Optimization Technique第54-55页
        4.2.2 Particle Swarm Optimization第55-57页
    4.3 Fractional Order Control of Robotic Arm having Flexibilities第57-62页
        4.3.1 Control Strategy第57-59页
        4.3.2 Simulation Results第59-62页
    4.4 Fractional Order Control of Two Link Robotic Arm第62-71页
        4.4.1 Control Scheme第62-64页
        4.4.2 Stability Analysis of Controller第64-66页
        4.4.3 Simulation Results第66-71页
    4.5 Fractional Order Control of 2-Link Robotic Arm usingComputed-Torque Controller Technique第71-83页
        4.5.1 Computed Torque Controller第72-73页
        4.5.2 FOPID Controller Design and Nonlinear ModelSimulations第73-74页
        4.5.3 Controller Stability第74-76页
        4.5.4 Simulation Results第76-83页
Chapter 5 Modified Iterative Learning Control Strategy for RepetitiveMotion Points Tracking第83-97页
    5.1 Iterative Learning Control with Receding HorizonOptimization第83-92页
        5.1.1 Receding Horizon Optimization第85-87页
        5.1.2 Proposed Technique第87页
        5.1.3 Use of Laguerre Functions第87-88页
        5.1.4 Point to Point ILC Formulation第88页
        5.1.5 Stable Systems第88-89页
        5.1.6 Observer第89页
        5.1.7 Case study第89-91页
        5.1.8 Constraints第91-92页
    5.2 Point to Point ILC Initial Condition Tracking第92-97页
        5.2.1 Problem Formulation第92-93页
        5.2.2 Controller Design第93-94页
        5.2.3 Case Study第94-97页
Chapter 6 Conclusions第97-101页
    6.1 Conclusions第97-99页
    6.2 Future Work第99-101页
References第101-114页
作者简历及在学研究成果第114-118页
学位论文数据集第118页

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