Iterative state feedback control and its application to robot control

Author

Adloo, H. ; Deghat, Mohammad ; Karimaghaee, Paknosh

Author_Institution

Dept. of Electr.&Electron. Eng., Shiraz Univ., Shiraz

fYear

2009

fDate

14-17 April 2009

Firstpage

1

Lastpage

6

Abstract

In this paper, a new iterative learning algorithm is proposed for repetitive nonlinear systems. The control system employs a combination of state feedback and iterative learning control (ILC) in which the coefficients of states are learned similar to ILC methods. The control system is in a closed loop format both in iteration domain (because of ILC) and in time domain (because of feedback control) which improves the robustness of the conventional ILC. The convergence of the control algorithm is also proved. Finally, simulation results for a 5-DOF manipulator have been presented to illustrate that the proposed algorithm is more robust than a first order P type ILC method at the presence of white Gaussian noise as a nonrepeating disturbance.

Keywords

adaptive control; closed loop systems; convergence of numerical methods; iterative methods; learning systems; nonlinear control systems; robots; robust control; state feedback; closed loop format; convergence; iterative learning control; iterative state feedback control; repetitive nonlinear system; robot control; robustness; time domain; Control systems; Convergence; Feedback control; Iterative algorithms; Iterative methods; Noise robustness; Nonlinear systems; Robot control; Robust control; State feedback; Iterative learning control (ILC); robot control; state feedback;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics, 2009. ICM 2009. IEEE International Conference on

Conference_Location

Malaga

Print_ISBN

978-1-4244-4194-5

Electronic_ISBN

978-1-4244-4195-2

Type

conf

DOI

10.1109/ICMECH.2009.4957228

Filename

4957228