DocumentCode
393795
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
Volume
3
fYear
2002
fDate
5-7 Aug. 2002
Firstpage
1551
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;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN
0-7803-7631-5
Type
conf
DOI
10.1109/SICE.2002.1196539
Filename
1196539
Link To Document