Iterative learning control based on quasi-Newton methods

被引：0

作者：

Avrachenkov, KE ^{[1
]}

机构：

[1] Univ S Australia, Sch Math, The Levels, SA 5095, Australia

来源：

PROCEEDINGS OF THE 37TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4 | 1998年

关键词：

iterative learning control; quasi-Newton method; robotic manipulators;

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：

In this paper we propose an iterative learning control scheme based on the quasi-Newton method. The iterative learning control is designed to improve the performance of the systems working cyclically. We consider the general type of systems described by continuously differentiable operator acting in Banach spaces. The sufficient conditions for the convergence of quasi-Newton iterative learning algorithm are provided. In the? second part of the paper we apply this general approach to the motion control of robotic manipulators. We also recommend to use the conventional feedback control in addition to the learning control. Finally some simulation results are presented.

引用

页码：170 / 174

页数：5

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