Some Results on Iterative Learning
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abstract
Learning control is a new approach to the problem of improving transient behavior for processes that are repetitive in nature and operate on a fixed time interval. The approach of learning control is described and an analysis of the learning control problem is given for the case of linear, time-invariant plants and controllers. This analysis offers insight into the nature of the solution of the learning control problem. Additionally, a specific learning controller is given for a class of nonlinear systems, which includes typical robotic manipulator models. This control scheme is illustrated by simulation example.