이산시간 궤환 시스템에 대한 반복학습제어 및 직접구동형 SCARA 로보트에의 응용

Iterative learning control for discrete-time feedback systems and its applicationto a direct drive SCARA robot

In this paper, we propose a reference input odification-type iterative learning control law for a class of discrete-time nonlinear systems and prove the convergence of the output error. We can get the high-precision in case of the trajectroy control when the proposed control law is properly combined with a feedback controller, and we can easily implement the learning control law compared to the control input modification-type learning control law. To show the validity and the convergence perfodrmance of the proposed control law, we perform experimentations on the trajectroy control and rejection of periodic disturbance for a 2-axis SCARA-type direct drive robot.