Abstract
In order to improve the control precision and to speed up the convergence rate of the controlled system,a kind of fuzzy PD type iterative learning control algorithm was put forward based on genetic algorithm.In the proposed approach,the iterative learning controller was designed by fuzzy Takagi-Sugeno-Kang(TSK) system,the parameters of fuzzy TSK system were calculated by genetic algorithm,and then appropriate updating law was created.Appropriate iterative learning control algorithm of controlled system was designed and compared with PD iterative learning control algorithm and fuzzy PID iterative learning control algorithm,and then the proposed algorithm was used in double joint manipulator simulation.The simulation results show the effectiveness of the proposed algorithm.
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