Title :
Learning control for a class of nonlinear systems and its application to a direct drive manipulator
Author :
Ahn, Hyun-Sik ; Choi, Chong-Ho ; Kim, Kwang-Bae
Author_Institution :
Control Syst. Lab., Korea Inst. of Sci. & Technol., Seoul, South Korea
Abstract :
The authors propose an iterative learning control method using the relative degree of a system for precise tracking control of a class of nonlinear systems over a finite time interval. The class of nonlinear systems, in which the iterative learning control is applied, can be extended by using the proposed method. A sufficient condition is derived for guaranteeing a uniform convergence to the desired output. The results obtained for a class of nonlinear systems are shown to be a generalization of the existing results for linear time-invariant systems. To show the effectiveness of the proposed method, tracking control of a single-link manipulator driven directly by a brushless DC motor is studied
Keywords :
DC motors; convergence; learning systems; linear systems; manipulators; nonlinear control systems; tracking; brushless DC motor; direct drive manipulator; iterative learning control; linear time-invariant systems; nonlinear systems; precise tracking control; sufficient condition; uniform convergence; Adaptive control; Brushless DC motors; Control systems; Convergence; Instruments; Iterative methods; Linear feedback control systems; Nonlinear control systems; Nonlinear systems; Sufficient conditions;
Conference_Titel :
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location :
Tucson, AZ
Print_ISBN :
0-7803-0872-7
DOI :
10.1109/CDC.1992.371257