scholarly journals Open-Closed-Loop PD Iterative Learning Control Corrected With the Angular Relationship of Output Vectors for a Flexible Manipulator

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 167815-167822 ◽  
Author(s):  
Jian Dong ◽  
Bin He ◽  
Ming Ma ◽  
Chenghong Zhang ◽  
Gang Li
Keyword(s):  
Iterative Learning Control ◽  
Closed Loop ◽  
Learning Control ◽  
Iterative Learning ◽  
Flexible Manipulator ◽  
Relationship Of

scholarly journals Open-closed Iterative Learning Control Algorithm for Exoskeleton Rehabilitation Purposes

2019 ◽  
Vol 292 ◽  
pp. 01010
Author(s):  
Mihailo Lazarević ◽  
Nikola Živković ◽  
Darko Radojević
Keyword(s):  
Iterative Learning Control ◽  
Control Algorithm ◽  
Closed Loop ◽  
Learning Control ◽  
Open Loop ◽  
Iterative Learning ◽  
Control Law ◽  
Exact Linearization ◽  
Outer Loop ◽  
Control Scheme

The paper designs an appropriate iterative learning control (ILC) algorithm based on the trajectory characteristics of upper exosk el eton robotic system. The procedure of mathematical modelling of an exoskeleton system for rehabilitation is given and synthesis of a control law with two loops. First (inner) loop represents exact linearization of a given system, and the second (outer) loop is synthesis of a iterative learning control law which consists of two loops, open and closed loop. In open loop ILC sgnPDD2 is applied, while in feedback classical PD control law is used. Finally, a simulation example is presented to illustrate the feasibility and effectiveness of the proposed advanced open-closed iterative learning control scheme.

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