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Direct Learning Control for a Class of Multi-Input Multi-Output Nonlinear Systems  

안현식 (국민대학교 전자정보통신공학부)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.40, no.2, 2003 , pp. 19-25 More about this Journal
Abstract
For a class of multi-input multi-output nonlinear systems which perform a given task repetitively, an extended type of a direct leaning control (DLC) is proposed using the information on the (vector) relative degree of a multi-input multi-output system. Existing DLC methods are observed to be applied to a limited class of systems with the relative degree one and a new DLC law is suggested which can be applied to systems having higher relative degree. Using the proposed control law, the control input corresponding to the new desired output trajectory is synthesized directly based on the control inputs obtained from the learning process for other output trajectories. To show the validity and the performance of the proposed DLC, simulations are performed for trajectory tracking control of a two-axis SCARA robot.
Keywords
Direct learning control; iterative learning control; tracking control; relative degree;
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Times Cited By KSCI : 1  (Citation Analysis)
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