Direct learning of control efforts for trajectories with different magnitude scales (Q1388113): Difference between revisions
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Property / cites work: Exponential convergence of a learning controller for robot manipulators / rank | |||
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Property / cites work: Iterative learning control method for discrete-time dynamic systems / rank | |||
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Property / cites work: Analysis of iterative learning control for a class of nonlinear discrete-time systems / rank | |||
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Revision as of 12:50, 28 May 2024
scientific article
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English | Direct learning of control efforts for trajectories with different magnitude scales |
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Direct learning of control efforts for trajectories with different magnitude scales (English)
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14 February 1999
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The paper introduces the concept of direct learning, defined as the direct generation of desired control profiles from different past control profiles, without repeated learning process. Direct learning control schemes are developed for some classes of nonlinear systems. The main advantages of these schemes result from the full utilization of the previously obtained control input signals with various magnitude scales and from the avoidance of repetitive learning. Simulation results for a single link robot manipulator illustrate the effectiveness of the proposed direct learning schemes.
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trajectory tracking
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direct learning
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repeated learning
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nonlinear systems
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