Title :
Output regulation of flexible mechanisms by learning
Author :
Lucibello, Pasquale
Author_Institution :
Dipartimento di Elettronica, Inf. e Sistmistica, Calabria Univ., Cosenza, Italy
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;
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.1992.371069
