Title :
Output zeroing and iterative learning control for 3 link acrobat robot
Author :
Watabe, Tomoki ; Yamakita, Masaki ; Mita, Tsutomu ; Ohta, Masaru
Author_Institution :
Tokyo Inst. of Technol., Japan
Abstract :
We propose a control algorithm for solving the problem of stabilization of a 3 link acrobat robot in upright position on a horizontal bar based on an approximation of a proper output function. Also, in order to overcome uncertainties of the system an iterative learning control (ILC) method is applied for a terminal state control. The validity of the proposed method is shown by numerical simulations.
Keywords :
adaptive control; learning systems; mobile robots; robot dynamics; stability; uncertain systems; 3 link acrobat robot; iterative learning control; output zeroing; stabilization; terminal state control; uncertainties; Actuators; Approximation algorithms; Control systems; Humanoid robots; Iterative algorithms; Iterative methods; Mobile robots; Numerical simulation; Uncertainty; Vehicle dynamics;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195826
