DocumentCode
2404646
Title
Output regulation of flexible mechanisms by learning
Author
Lucibello, Pasquale
Author_Institution
Dipartimento di Elettronica, Inf. e Sistmistica, Calabria Univ., Cosenza, Italy
fYear
1992
fDate
1992
Firstpage
2533
Abstract
The problem of regulating the output of a flexible mechanism by means of learning algorithms is discussed. A general methodology is presented, and its applicability in the face of neglected high-frequency dynamics is investigated. The learning algorithm introduced is of the gradient type and its convergence has been at least proven in the case of sufficiently small elastic displacements. The performance of the proposed learning algorithm is illustrated by means of an academic example
Keywords
kinematics; learning systems; convergence; flexible mechanisms; gradient; learning; neglected high-frequency dynamics; output regulation; Acceleration; Control systems; Equations; Error correction; Force control; H infinity control; Linear systems; Robots; Trajectory; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location
Tucson, AZ
Print_ISBN
0-7803-0872-7
Type
conf
DOI
10.1109/CDC.1992.371069
Filename
371069
Link To Document