Iterative Learning Control —An identification oriented approach—

Toshiharu Sugie; Kenichi Hamamoto

doi:10.11499/sicep.2002.0.565.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.565.0

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

Iterative Learning Control

—An identification oriented approach—

Toshiharu Sugie, Kenichi Hamamoto

Author information

Keywords: learning control, tracking control, feedforward control, manipulator

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 565

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Abstract

This paper introduces a new type of iterative learning control (ILC) which seeks the desired input in an appropriate finite dimensional input subspace. The method achieves perfect tracking for a class of uncertain systems without using time derivative of tracking error signals in the learning law. Its effectiveness is demonstrated by experiment using a two-link direct drive arm. One of the distinguish features of this method is that it is regarded as an identification oriented method rather than pure I/O signal based (or model free) one.

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