By Topic

A frequency-domain approach to learning control: implementation for a robot manipulator

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
$33 $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

3 Author(s)
A. De Luca ; Dipartimento di Informatica e Sistemistica, Rome Univ., Italy ; G. Paesano ; G. Ulivi

A frequency-domain approach to the analysis and design of learning control laws for achieving a desired repetitive behavior in a dynamical system is presented. The scheme uses two separate filters in order to obtain rapid improvement in a specified bandwidth, while cutting off possibly destabilizing dynamic effects that would bar learning convergence. In this way the trade-off between global convergence conditions and approximate learning of trajectories is made explicit. The synthesis is presented for single-input, single-output (SISO) linear systems, but the method is of general application. The proposed learning controller has been used for exact tracking of repetitive trajectories in robot manipulators. In particular, actuator inputs that enable accurate reproduction of robot joint-space trajectories are learned in a few iterations without the knowledge of the robot dynamic model. Implementation aspects are discussed, and experimental results are reported

Published in:

IEEE Transactions on Industrial Electronics  (Volume:39 ,  Issue: 1 )