Repositioning control of a two-link flexible arm by learning

DOI10.1016/S0005-1098(96)00199-9MaRDI QIDQ1361311zbMATH OpenFDO

Authors G. Ulivi, Pasquale Lucibello, Stefano Panzieri

Publication date 1 February 1998

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/S0005-1098(96)00199-9

zbMATH Keywords

flexible armhigh-frequency dynamicslearning algorithmperturbationsrepositioning controlrobustnesstwo-link arm

Mathematics Subject Classification ID

Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85)

Review text

This paper considers the repositioning control of a two-link arm, the second one being flexible, using a learning strategy. It is shown that by using state feedback the nonlinear system can be transformed into a perturbed linear one, for which a general theory has been presented previously. It is proved that the proposed learning algorithm is robust, not only with respect to sufficiently small nonlinear plant perturbations, but also with respect to unmodeled high-frequency dynamics. The experimental results, presented at the end of the paper, confirm the validity of the approach.

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Cites work

• Active control of flexible systems
• Geometric state-space theory in linear multivariable control: A status report
• scientific article; zbMATH DE number 4055448 (Why is no real title available?)
• Learning control theory for robotic motion
• On a new type of stability
• On intersections of subgroups in groups
• State steering by learning for a class of nonlinear control systems

Cited in

(11)

• Experiments on output tracking with internal stability by learning for a one-link flexible arm
• Application of cyclic control to a two-link flexible arm
• Control with learning for an elastic manipulator under gravity
• Robust optimal design and convergence properties analysis of iterative learning control approaches
• Adaptive robust iterative learning control with dead zone scheme
• Noise tolerant iterative learning control for a class of continuous-time systems
• Oscillation elimination of tip regulation for a single-link flexible manipulator
• Terminal iterative learning control based station stop control of a train
• Positioning of the Two-link Arm by Manual Control.
• An iterative learning control algorithm within prescribed input-output subspace
• Distributed optimisation algorithm based on iterative learning control

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