Point to point learning control of a two-link flexible arm

2005 ◽  
pp. 545-560 ◽  
Author(s):  
P. Lucibello ◽  
S. Panzieri ◽  
G. Ulivi
Keyword(s):  
Learning Control ◽  
Flexible Arm ◽  
Point To Point

Trajectory Tracking of a One-Link Flexible Arm via Iterative Learning Control

2020 ◽  
Author(s):  
Michele Pierallini ◽  
Franco Angelini ◽  
Riccardo Mengacci ◽  
Alessandro Palleschi ◽  
Antonio Bicchi ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Iterative Learning Control ◽  
Learning Control ◽  
Iterative Learning ◽  
Flexible Arm

Reference adjustment for a high-acceleration and high-precision platform via A-type of iterative learning control

2007 ◽  
Vol 221 (5) ◽  
pp. 781-789 ◽  
Author(s):  
J. H. Wu ◽  
H Ding
Keyword(s):  
High Precision ◽  
Iterative Learning Control ◽  
Control Structure ◽  
Learning Control ◽  
Iterative Learning ◽  
High Acceleration ◽  
Control Scheme ◽  
Point Motion ◽  
Point To Point ◽  
P Type

This paper studies the repetitive motion control of a high-acceleration and high-precision platform driven by linear motors. The control scheme comprises an anticipatory iterative learning control (A-ILC) component and a cascaded control structure including an inner-loop velocity PI controller and an outer-loop position P controller. During the motion process, the cascaded controller remains invariant while the A-ILC adjusts the reference command cycle by cycle to achieve better performance. Experiments are carried out to validate the proposed control structure. The results confirm that the proposed control scheme can improve the system performance significantly in both low-speed trajectory tracking motions and fast point-to-point motion. In the experiments, P-type and D-type ILCs are also utilized to adjust the reference command. Compared with the A type, P-type ILC leads to larger tracking error bounds and D-type ILC lacks a fast convergence rate for low-speed motions, while for fast point-to-point motion these two types of ILC are unable to work well.

scholarly journals Learning Control of a Flexible Arm by B-spline Curves in Consideration of Time Scaling.

1999 ◽  
Vol 65 (637) ◽  
pp. 3643-3649
Author(s):  
Hiroaki OZAKI ◽  
Tsuyoshi KUBO ◽  
Tetsuji SHIMOGAWA ◽  
Chang-jun LIN
Keyword(s):  
Learning Control ◽  
B Spline ◽  
Flexible Arm ◽  
Time Scaling ◽  
Spline Curves
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