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

Volume

4

Issue

5

fYear

1988

fDate

10/1/1988 12:00:00 AM

Firstpage

508

Lastpage

514

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;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Journal of

Publisher

ieee

ISSN

0882-4967

Type

jour

DOI

10.1109/56.20435

Filename

20435