Title :
Application of a recursive minimum-norm learning controller to precision motion control of an underactuated mechanical system
Author :
Hu, Ai-Ping ; Sadegh, Nader
Author_Institution :
Dept. of Mech. & Ind. Eng., Southern Illinois Univ., Edwardsville, IL, USA
fDate :
June 30 2004-July 2 2004
Abstract :
A recursive method is first presented for obtaining the minimum-norm solution of a linear system of equations. The formulation is then extended to the case of a nonlinear system of equations, the result of which is used as the basis of a repetitive learning controller that is applied experimentally to precision motion control of an underactuated mechanical system tracking a periodic trajectory.
Keywords :
adaptive control; learning systems; linear systems; motion control; nonlinear control systems; nonlinear equations; pendulums; position control; recursive estimation; linear equations; linear system; nonlinear equations; nonlinear system; pendulums; periodic trajectory tracking; precision motion control; recursive minimum norm learning controller; underactuated mechanical system;
Conference_Titel :
American Control Conference, 2004. Proceedings of the 2004
Conference_Location :
Boston, MA, USA
Print_ISBN :
0-7803-8335-4
