Title :
Adjoint-type iterative learning control for nonlinear nonminimum phase system - application to a planar model of a helicopter $
Author :
Ogoshi, R. ; Sogo, T. ; Adachi, N.
Author_Institution :
Kyoto Univ., Kyoto, Japan
Abstract :
Iterative learning control (ILC) obtains a desired input that exactly generates the desired output through repetitions of the same tasks. In this paper, a numerical simulation of the adjoint-type ILC, which can obtain desired inputs even if the objective system is that of a nonminimum phase, is carried out for a planar model of a helicopter.
Keywords :
aircraft control; helicopters; learning (artificial intelligence); ILC; helicopter; iterative learning control; nonlinear nonminimum phase system; planar model; Control systems; Current control; Error correction; Helicopters; Manipulators; Nonlinear control systems; Nonlinear systems; Numerical simulation; Robot control; Uncertainty;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1196538
