中文摘要：

针对桥式起重机重复性工作且有固定初始误差的情况,采用迭代学习控制方法研究桥式起重机位置跟踪问题.建立了桥式起重机的二维数学模型,设计了桥式起重机位置跟踪的迭代学习控制算法,证明了算法的收敛性.研究表明,迭代学习控制可有效利用桥式起重机运行的重复信息,实现有限区间内的位置完全跟踪.仿真结果验证了方法的有效性.

英文摘要：

Aiming at the conditions of repeated working of bridge crane and fixed initial error, iterative learning control strategy was used to realize position tracking. A two dimensional mathematical model of bridge crane iwas first established and then the iterative learning control law was given. The convergence of the proposed iterative learn ing control law was analyzed. It is shown that the control algorithm can obtain perfect tracking performance after some iteration. A simulation example was also given to illustrate the effectiveness of the proposed approach.