파라미터 추정방법을 이용한 로보트 반복학습제어기의 설계

Design of an Iterative Learning Robot Controller Using Parameter Estimation

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.