Cart (Loading....) | Create Account
Close category search window

Repetitive learning control: a Lyapunov-based approach

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Dixon, W.E. ; Robotics & Process Syst. Div., Oak Ridge Nat. Lab., TN, USA ; Zergeroglu, E. ; Dawson, D.M. ; Costic, B.T.

In this paper, a learning-based feedforward term is developed to solve a general control problem in the presence of unknown nonlinear dynamics with a known period. Since the learning-based feedforward term is generated from a straightforward Lyapunov-like stability analysis, the control designer can utilize other Lyapunov-based design techniques to develop hybrid control schemes that utilize learning-based feedforward terms to compensate for periodic dynamics and other Lyapunov-based approaches (e.g., adaptive-based feedforward terms) to compensate for nonperiodic dynamics. To illustrate this point, a hybrid adaptive/learning control scheme is utilized to achieve global asymptotic link position tracking for a robot manipulator

Published in:

Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:32 ,  Issue: 4 )

Date of Publication:

Aug 2002

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.