Discrete Time Multi-Channel Learning Controller

In this paper, a discrete time multi-channel learning controller is proposed. This multi-channel method aims to extend the learnable frequency band of a learning control system and thus improve the learning performance. In each channel, a simple learning controller is used. More channels with such simple learning controllers produce wider learnable band. Two illustrative design approaches are demonstrated via an example of robot joint control. Experimental results verify the effectiveness of the multi-channel approach and the discrete time control design