DocumentCode :
2062942
Title :
Repetitive learning control: a Lyapunov-based approach
Author :
Dixon, W.E. ; Zergeroglu, E. ; Dawson, D.M. ; Costic, B.T.
Author_Institution :
Robotics & Process Syst. Div., Oak Ridge Nat. Lab., TN, USA
fYear :
2001
fDate :
2001
Firstpage :
530
Lastpage :
535
Abstract :
In this paper, a learning-based feedforward term is developed to solve a general control problem in the presence of unknown nonlinear dynamics with a known period. Since the learning-based feedforward term is generated from a straightforward Lyapunov-like stability analysis, the control designer can utilize other Lyapunov-based design techniques to develop hybrid control schemes that utilize learning-based feedforward terms to compensate for periodic dynamics and other Lyapunov-based approaches (e.g., adaptive-based feedforward terms) to compensate for non-periodic dynamics. To illustrate this point, a hybrid adaptive/learning control scheme is utilized to achieve global asymptotic link position tracking for a robot manipulator
Keywords :
Lyapunov methods; adaptive control; asymptotic stability; feedforward; learning systems; manipulator dynamics; position control; tracking; Lyapunov method; asymptotic stability; feedforward; nonlinear dynamics; position control; repetitive learning control; robot manipulator; tracking; Hybrid power systems; Industrial control; Laboratories; Optical computing; Optical control; Optical fibers; Robotic assembly; Robust control; Service robots; Technological innovation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on
Conference_Location :
Mexico City
Print_ISBN :
0-7803-6733-2
Type :
conf
DOI :
10.1109/CCA.2001.973921
Filename :
973921
Link To Document :
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