Iterative learning control based on quasi-Newton methods

Author

Avrachenkov, Konstantin E.

Author_Institution

Sch. of Math., South Australia Univ., The Levels, SA, Australia

Volume

1

fYear

1998

fDate

1998

Firstpage

170

Abstract

We propose an iterative learning control scheme based on the quasi-Newton method. The iterative learning control is designed to improve the performance of the systems working cyclically. We consider the general type of systems described by continuously differentiable operator acting in Banach spaces. The sufficient conditions for the convergence of quasi-Newton iterative learning algorithm are provided. We apply this general approach to the motion control of robotic manipulators. We also recommend to use the conventional feedback control in addition to the learning control. Finally, some simulation results are presented

Keywords

Banach spaces; feedback; intelligent control; iterative methods; learning systems; manipulator dynamics; motion control; Banach space; feedback; iterative learning control; motion control; quasi-Newton methods; robotic manipulators; sufficient conditions; Control systems; Convergence; Equations; Feedback control; Iterative algorithms; Iterative methods; Manipulators; Motion control; Orbital robotics; Sufficient conditions;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1998. Proceedings of the 37th IEEE Conference on

Conference_Location

Tampa, FL

ISSN

0191-2216

Print_ISBN

0-7803-4394-8

Type

conf

DOI

10.1109/CDC.1998.760615

Filename

760615