Repetitive learning control: a Lyapunov-based approach.
IEEE Trans Syst Man Cybern B Cybern
; 32(4): 538-45, 2002.
Article
em En
| MEDLINE
| ID: mdl-18238149
ABSTRACT
In this paper, a learning-based feedforward term is developed to solve a general control problem in the presence of unknown nonlinear dynamics with a known period. Since the learning-based feedforward term is generated from a straightforward Lyapunov-like stability analysis, the control designer can utilize other Lyapunov-based design techniques to develop hybrid control schemes that utilize learning-based feedforward terms to compensate for periodic dynamics and other Lyapunov-based approaches (e.g., adaptive-based feedforward terms) to compensate for nonperiodic dynamics. To illustrate this point, a hybrid adaptive/learning control scheme is utilized to achieve global asymptotic link position tracking for a robot manipulator.
Texto completo:
1
Coleções:
01-internacional
Base de dados:
MEDLINE
Idioma:
En
Revista:
IEEE Trans Syst Man Cybern B Cybern
Assunto da revista:
ENGENHARIA BIOMEDICA
Ano de publicação:
2002
Tipo de documento:
Article
País de afiliação:
Tunísia