DocumentCode
425166
Title
Application of a recursive minimum-norm learning controller to precision motion control of an underactuated mechanical system
Author
Hu, Ai-Ping ; Sadegh, Nader
Author_Institution
Dept. of Mech. & Ind. Eng., Southern Illinois Univ., Edwardsville, IL, USA
Volume
4
fYear
2004
fDate
June 30 2004-July 2 2004
Firstpage
3776
Abstract
A recursive method is first presented for obtaining the minimum-norm solution of a linear system of equations. The formulation is then extended to the case of a nonlinear system of equations, the result of which is used as the basis of a repetitive learning controller that is applied experimentally to precision motion control of an underactuated mechanical system tracking a periodic trajectory.
Keywords
adaptive control; learning systems; linear systems; motion control; nonlinear control systems; nonlinear equations; pendulums; position control; recursive estimation; linear equations; linear system; nonlinear equations; nonlinear system; pendulums; periodic trajectory tracking; precision motion control; recursive minimum norm learning controller; underactuated mechanical system;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2004. Proceedings of the 2004
Conference_Location
Boston, MA, USA
ISSN
0743-1619
Print_ISBN
0-7803-8335-4
Type
conf
Filename
1384500
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