논문 초록

An Iterative Learning Control Method with Application for the Robot Manipulator
An iterative learning control method is presented for a class of linear periodic systems, in which a parameter estimator of the system together with an inverse system model is utilized to generate the control signal at each iteration. A convergence proof is given and two numerical examples are presented to show the validity of the algorithm. In particular, it is shown that the method is useful for the continuous path control of robot manipulators.
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