Design of an Iterative Learning Robot Controller Using Parameter Estimation

파라미터 추정방법을 이용한 로보트 반복학습제어기의 설계

  • 오상록 (한국과학기술연구원 제어시스템 연구실) ;
  • 황동환 (한국과학기술원 전기전자공학과) ;
  • ;
  • 서일홍 (한양대 공대 전자공학과)
  • Published : 1990.04.01

Abstract

An iterative learning contol method is presented for a class of linear periodic systems, in which a parameter estimator of the system together with an inverse system model is utilized to generate the control signal at each iteration. A convergence proof is given and two numerical examples are illustrated to show the validities of the algorithm. In particular, it is shown that the method is useful for the continuous path control of robot manipulators.

Keywords