Title :
Learning control for a class of constrained mechanical systems with uncertain disturbances
Author :
Xu, Weimin ; Shao, Cheng ; Chai, Tianyou
Author_Institution :
Res. Center of Autom., Northeastern Univ., Shenyang Liaoning, China
Abstract :
An iterative learning control method for a class of constrained mechanical systems with uncertain disturbances is proposed. This scheme extended the previous strategies for the investigation of the iterative learning control problem to a large class of systems described by differential-algebraic equations. A sufficient condition is derived for the convergence of both the motion and contact force of the systems in the presence of state disturbances, output measurement noises and errors in initial condition. Finally, simulation results of a constrained manipulator are presented
Keywords :
algebra; convergence; learning systems; manipulators; nonlinear differential equations; position control; constrained mechanical systems; differential-algebraic equations; initial condition errors; iterative learning control method; output measurement noises; state disturbances; sufficient condition; uncertain disturbances; Automatic control; Control systems; Differential equations; Force control; Mechanical systems; Motion control; Nonlinear control systems; Robot kinematics; Service robots; Tracking;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.609578
