Iterative learning control for discrete-time nonlinear systems

An iterative learning control method is proposed for a class of nonlinear discrete-time systems. The output of a system is shown to converge to a desired output for a finite time interval by using the proposed learning method under a certain condition. The proposed learning control method is applied...

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Bibliographic Details
Published in:International journal of systems science 1994-07, Vol.25 (7), p.1179-1189
Main Authors: JANG, TAE-JEONG, AHN, HYUN-SIK, CHOI, CHONG-HO
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control theory. Systems
Exact sciences and technology
Robotics
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Summary:An iterative learning control method is proposed for a class of nonlinear discrete-time systems. The output of a system is shown to converge to a desired output for a finite time interval by using the proposed learning method under a certain condition. The proposed learning control method is applied to the tracking control of a two-link robot manipulator and the effectiveness of the learning is observed in the simulation
ISSN:0020-7721
1464-5319
DOI:10.1080/00207729408949269