Journal of the Korean Institute of Telematics and Electronics S (전자공학회논문지S)
- Volume 34S Issue 7
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- Pages.56-65
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- 1997
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- 1226-5837(pISSN)
Iterative learning control for discrete-time feedback systems and its applicationto a direct drive SCARA robot
이산시간 궤환 시스템에 대한 반복학습제어 및 직접구동형 SCARA 로보트에의 응용
- Yeo, Seong-Won (Dept. of Electronics Eng., Kookmin Univ.) ;
- Kim, Jae-Oh (Dept. of Electronics Eng., Kookmin Univ.) ;
- Hwang, Gun (Dept. of Electronics Eng., Kookmin Univ.) ;
- Kim, Sung-Hyun (Dept. of Electronics Eng., Kookmin Univ.) ;
- Kim, Do-Hyun (Dept. of Electronics Eng., Kookmin Univ.) ;
- Ahn, Hyun-Sik (Dept. of Electronics Eng., Kookmin Univ.)
- 여성원 (국민대학교 전자공학과) ;
- 김재오 (국민대학교 전자공학과) ;
- 황건 (국민대학교 전자공학과) ;
- 김성현 (국민대학교 전자공학과) ;
- 김도현 (국민대학교 전자공학과) ;
- 안현식 (국민대학교 전자공학과)
- Published : 1997.07.01
Abstract
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.
Keywords