Tip Position Control of a One-link Flexible Arm by Adjoint-type Iterative Learning Control

Masakazu Nishiki; Takuya Sogo; Norihiko Adachi

doi:10.11499/sicep.2002.0.341.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.341.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Tip Position Control of a One-link Flexible Arm by Adjoint-type Iterative Learning Control

Masakazu Nishiki, Takuya Sogo, Norihiko Adachi

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Keywords: Iterative Learning Control, One-link flexible arm, Nonminimum Phase System

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 341

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Abstract

Adjoint-type Iterative Learning Control (ILC) can obtain a desired input that generates a given desired output for a Nonmininum Phase System (NMP) with unmodeled parts. However, adjoint-type ILC can be carried out for a specific desired output. We combined adjoint-type ILC and feedback control to achieve an arbitral desired output for a one-link flexible arm.

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