Results 281 to 290 of about 303,155 (330)

Backstepping Adaptive Iterative Learning Control for Robotic Systems

Applied Mechanics and Materials, 2013
A backstepping adaptive iterative learning control for robotic systems with repetitive tasks is proposed in this paper. The backstepping-like procedure is introduced to design the AILC. A fuzzy neural network is applied for compensation of the unknown certainty equivalent controller.
Ying Chung Wang, Chiang Ju Chien, Chi Nan Chuang   +2 more
openaire   +1 more source

Force adaptation with recursive regression Iterative Learning Controller

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015
In this paper we exploit Iterative Learning Controllers (ILC) schemes in force adaptation tasks. We propose to encode the control signal with Radial Basis Functions (RBF), which enhances the robustness of the ILC scheme and allows to vary the execution speed of the learned motion.
Bojan Nemec, Tadej Petric, Ales Ude
openaire   +1 more source

Adaptive iterative learning control for systems with nonlinearities

2011 19th Mediterranean Conference on Control & Automation (MED), 2011
In this paper, we consider the problem of ILC when it deals with systems with piecewise linear nonlinearities. Most of actuators have nonlinear characteristics such as hysteresis, backlash, dead-zone or piecewise linear nonlinearities. These nonlinearities make controller design difficult, specifically when their parameters are not known.
Iman Khademi, Alireza Nasseri Mood, Behrooz Maleki   +2 more
openaire   +1 more source

Adaptive PI control of ultrasonic motor using iterative learning methods

ISA Transactions, 2023
PI (proportional integral) controller is widely utilized in ultrasonic motor control systems. However, PI controllers which use fixed parameters is often difficult to ensure that the control performance meets the expectations. Based on the idea of iterative learning control (ILC), a new online adaptive adjustment method for PI control parameters is ...
Song Lu, Shi Jingzhuo
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Adaptive iterative learning control for robot manipulators

Proceedings of the 2003 American Control Conference, 2003., 2004
zbMATH Open Web Interface contents unavailable due to conflicting licenses.
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Adaptive Iterative Learning Constrained Control for Linear-Motor-Driven Gantry Stage

IEEE/ASME transactions on mechatronics
In this article, an adaptive iterative learning constrained control method of a linear-motor-driven gantry stage is proposed, which synthetically solves the problems of practical state and input constraints of the gantry stage and avoids the difficulty ...
Chaohai Yu, Jie Ma, Huihui Pan, Michael V. Basin   +3 more
semanticscholar   +1 more source

Universal iterative learning control using adaptive high‐gain feedback

International Journal of Adaptive Control and Signal Processing, 1993
AbstractConvergence theorems for adaptive (universal) iterative learning control systems provide a well‐defined convergence criterion parametrized by a single adaptive gain parameter. The convergence is in the weak topology of L(0,T) with T finite and applies to both finite‐dimensional systems and a class of infinite‐dimensional systems.
openaire   +1 more source

Adaptive iterative learning control of uncertain robotic systems

IEE Proceedings - Control Theory and Applications, 2000
A distinct feature of the proposed AILC scheme is that uncertain parameters are estimated in the time domain whereas repetitive disturbances are identified and compensated in the iteration domain. The bounds of the parameters are not required to be known a priori, and the learning control gain can be adjusted independently of the parameter adaptation ...
Choi, JY, Lee, JS
openaire   +2 more sources

Adaptive Iterative Learning Control for High-Speed Train: A Multi-Agent Approach

IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2019
The precise tracking control of high-speed train is an essential prerequisite to ensure the safety and comfort of the train. In this paper, an adaptive iterative learning control (ILC) scheme for the velocity and displacement tracking of high-speed train
Deqing Huang, Yong Chen, De-yuan Meng, P. Sun   +3 more
semanticscholar   +1 more source

Adaptive Iterative Learning Control for Robotic Manipulators

2024 UKACC 14th International Conference on Control (CONTROL)
A refined control scheme is presented to optimise the trajectory-tracking performance of robotic manipulators. This strategy integrates a linear feedback controller and a feedforward learning controller. The former mitigates unknown disturbances and desensitises the system to unidentified parameters, while the latter enhances tracking efficiency by ...
Dou, Yu, Prempain, Emmanuel, Su, Lanlan
openaire   +1 more source