中文摘要：

针对常见的PD型迭代学习控制算法收敛速度慢、收敛精度低的问题,提出了一种具有自适应学习的开环PD型迭代学习控制算法。该算法融合自适应学习和开环PD型学习律,采用自适应因子来优化学习率,通过数学方法证明了其收敛性,并通过仿真验证了算法的有效性。

英文摘要：

A kind of open-loop PD-type iterative learning control adaptive learning algorithm is put forward to against PD type iterative learning control algorithm convergence slow and low convergence accuracy problem in the paper.The algorithm integrates adaptive learning and open-loop PD-type learning law,the adaptive factor is used to optimize the learning rate and its convergence is proved through mathematic method.The simulation validates the validity of the algorithm.