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초록· 키워드
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An iterative learning control method is presented for a class of nonlinear discrete-time systems and a sufficient condition is derived for guaranteeing the convergence of the output of the system. The presented learning control system is applied to a single-link manipulator actuated by a permanent magnet synchronous motor and the effectiveness of the proposed method is investigated by simulations. It can be known from the simulation results that precise tracking control is achieved even when large modelling errors and periodic disturbances exist.
목차
ABSTRACT
1.Introduction
2.Problem Formulations
3.A Learning Control Law and Its Robustness
4.Application to a Single-link Manipulator
5.Conclusion
References
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