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Repetitive learning control: a Lyapunov-based approach

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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

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