Implementation of learning control techniques using descriptor systems methods
- 1 January 1991
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1451-1456
- https://doi.org/10.1109/robot.1991.131819
Abstract
Learning control algorithms rely on offline estimates of generalized position, velocity, and acceleration errors. This problem is addressed in the framework of the spectral analysis of singular descriptor systems, and a class of robust estimates is introduced. The use of these estimators in the implementation of learning control algorithms has been tested on a prototype manipulator, and experimental results are reported. It is concluded that iterative learning control can be successfully implemented on real manipulators provided that robust estimators for velocity and acceleration are given.Keywords
This publication has 5 references indexed in Scilit:
- Application of Learning Techniques in the Hybrid Control of Mechanical ManipulatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Regularization techniques for the analysis of singular dynamic systemsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1990
- On the iterative learning control theory for robotic manipulatorsIEEE Journal on Robotics and Automation, 1988
- Analysis of singular systems using orthogonal functionsIEEE Transactions on Automatic Control, 1987
- Learning control theory for dynamical systemsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1985