Title :
An iterative learning control method with application to robot manipulators
Author :
Oh, Sang-Rok ; Bien, Zeungnam ; Suh, Il Hong
Author_Institution :
Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
fDate :
10/1/1988 12:00:00 AM
Abstract :
An iterative learning control algorithm for a class of linear periodic systems is proposed in which parameter estimation is performed in the domain of an iterative sequence of operations with the time frozen. A sufficient condition for the convergence of the proposed algorithm is given. It is also shown that the proposed learning controller can be applied to the continuous path control of robot manipulators. It is noted that the proposed algorithm works reasonably well only for the case of small perturbations with respect to a nominal trajectory
Keywords :
adaptive control; iterative methods; learning systems; parameter estimation; position control; robots; self-adjusting systems; adaptive control; continuous path control; convergence; iterative learning control method; linear periodic systems; parameter estimation; position control; robot manipulators; self adjusting systems; Adaptive control; Control systems; Inverse problems; Iterative methods; Manipulator dynamics; Parameter estimation; Robot control; Robot sensing systems; Systems engineering and theory; Vectors;
Journal_Title :
Robotics and Automation, IEEE Journal of
