Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
Adaptive Multi-Step Learning Control for Time-Varying Linear Systems
Yuh YAMASHITA, Junichi MIYAMOTO, Masasuke SHIMA
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Keywords: multi-step learning control, adaptive control, linear time-varying system, mechanical system, robot manipulator
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1994 Volume 7 Issue 4 Pages 134-141

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Abstract
In this paper, the adaptive multi-step learning control for continuous-time linear system is studied. Input function uk+1 (t) is calculated from the triplets (uk, ek, ek) and (uk-1, ek-1, ek-1) where ek is tracking error of k-th trial. The weighting coefficients of the triplets are determined adaptively. The convergence of the control law is proved by means of evaluation of the norm of tracking error. Moreover, the learning control is applied to the tracking problem of two-link robot manipulator.
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