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2002

Repetitive learning control: a Lyapunov-based approach

9 years 10 months ago
Repetitive learning control: a Lyapunov-based approach
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 learningbased 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 non-periodic dynamics. To illustrate this point, a hybrid adaptive/learning control scheme is utilized to achieve global asymptotic link position tracking for a robot manipulator.
Warren E. Dixon, Erkan Zergeroglu, Darren M. Dawso
Added 23 Dec 2010
Updated 23 Dec 2010
Type Journal
Year 2002
Where TSMC
Authors Warren E. Dixon, Erkan Zergeroglu, Darren M. Dawson, B. T. Costic
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