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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Kim, B.K. Chung, W.K. Youm, Y. |
| Copyright Year | 1996 |
| Description | Author affiliation: Sch. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea (Kim, B.K.) |
| Abstract | A robust learning control algorithm based on a disturbance observer is proposed. The robust controller which is based on a disturbance observer compensates disturbances due to parameter variations, mechanical nonlinearities, unmodeled dynamics and external disturbances. In doing so, it provides robustness and makes the whole system stable, and makes easy to design learning controllers which acquire good performance. A novel iterative learning control scheme comprising a unique feedforward learning controller and a robust controller is presented. In this paper, two kinds of learning controller are designed: firstly, the learning controller solves the zero initial problem; secondly, it solves the nonzero initial position problem. The convergence and robustness of the proposed controller is proved by a method based on Lyapunov stability theorem. The results of numerical simulation are shown to verify the effectiveness of the proposed control scheme. |
| Starting Page | 1276 |
| Ending Page | 1282 |
| File Size | 622478 |
| Page Count | 7 |
| File Format | |
| ISBN | 0780327756 |
| DOI | 10.1109/IECON.1996.566063 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1996-08-09 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robust control Robot control Manipulator dynamics Control nonlinearities Nonlinear dynamical systems Control systems Convergence Robust stability Lyapunov method Numerical simulation |
| Content Type | Text |
| Resource Type | Article |
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