Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1990.11a
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- Pages.421-424
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- 1990
Control and Parameter Estimation of Uncertain Robotic Systems by An Iterative Learning Method
불확실한 로보트 시스템의 제어와 파라미터 추정을 위한 반복학습제어기법
- Kuc, Tae-Yong (Department of Electrical Engineering, POSTECH) ;
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Lee, Jin-Soo
(Department of Electrical Engineering, POSTECH)
- Published : 1990.11.17
Abstract
An iterative learning control scheme for exact-tracking control and parameter estimation of uncertain robotic systems is presented. In the learning control structure, tracking and feedforward input converge globally and asymptotically as iteration increases. Since convergence of parameter errors depends only on the persistent exciting condition of system trajectories along the iteration independently of length of trajectories, it may be achieved with only system trajectories of small duration. In addition, these learning control schemes are expected to be effectively applicable to time-varying parametric systems as well as time-invariant systems, for the parameter estimation is performed at each fixed time along the iteration. Finally, no usage of acceleration signal and no in version of estimated inertia matrix in the parameter estimator makes these learning control schemes more feasible.
Keywords