Output Zeroing and Iterative Learning Control for 3 Link Acrobat Robot

Tomoki Watabe; Masaki Yamakita; Tsutomu Mita; Masaru Ohta

doi:10.11499/sicep.2002.0.568.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.568.0

会議情報

主催: The Society of Instrument and Control Engineers

共催: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Output Zeroing and Iterative Learning Control for 3 Link Acrobat Robot

Tomoki Watabe, Masaki Yamakita, Tsutomu Mita, Masaru Ohta

著者情報

キーワード: Iterative Learning Control, Acrobat Robot, Output Zeroing

会議録・要旨集フリー

p. 568

詳細

抄録

In this paper, we propose a control algorithm for solving the problem of stabilization of 3 link acrobat robot in upright position on a horizontal bar based on an approximation of a proper output function. Also, in order to overcome uncertainties of the system an iterative learning control (ILC) method is applied for a terminal state control. The validity of the proposed method is shown by numerical simulations.

責任著者(Corresponding author)

J-STAGEへの登録はこちら（無料）