Tip position control of a one-link flexible arm by adjoint-type Iterative Learning Control

被引：0

作者：

Nishiki, M ^{[1
]}

Sogo, T ^{[1
]}

Adachi, N ^{[1
]}

机构：

[1] Kyoto Univ, Kyoto 6068501, Japan

来源：

SICE 2002: PROCEEDINGS OF THE 41ST SICE ANNUAL CONFERENCE, VOLS 1-5 | 2002年

关键词：

Iterative Learning Control; one-link flexible arm; nonminimum phase system;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Adjoint-type Iterative Learning Control (ILC) can obtain a desired input that generates a given desired output for a Nonminimum Phase System (NW) with unmodeled parts. However, adjoint-type ILC can be carried out for a specific desired output We combined adjoint-type ILC and feedback control to achieve an arbitral desired output for a one-link flexible arm.

引用

页码：1551 / 1555

页数：5

共 6 条

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