Title :
Tip position control of a one-link flexible arm by adjoint-type Iterative Learning Control
Author :
Nishiki, M. ; Sogo, T. ; Adachi, N.
Author_Institution :
Kyoto Univ., Japan
Abstract :
Adjoint-type Iterative Learning Control (ILC) can obtain a desired input that generates a given desired output for a Nonminimum Phase System (NMP) with unmodeled parts. However, adjoint-type ILC can be carried out for a specific desired output. We combined adjoint-type ILC and feedback control to achieve an arbitral desired output for a one-link flexible arm.
Keywords :
adaptive control; flexible manipulators; position control; ILC; Iterative Learning Control; feedback control; flexible arm; nonminimum phase system; position control; tip position control; Algorithm design and analysis; Computer crime; Control systems; Design methodology; Feedback control; Iterative methods; Linear systems; Position control; Signal generators; Uncertainty;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1196539
