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Learning control system design based on 2D theory-an application to parallel link manipulator

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4 Author(s)
Geng, Z. ; Dept. of Electr. Eng. & Comput. Sci., George Washington Univ., Washington, DC, USA ; Lee, J.D. ; Carroll, R.L. ; Haynes, L.H.

An approach to iterative learning control system design based on 2D system theory is presented. A 2D model for the iterative learning control system which reveals the connections between learning control systems and 2D system theory is established. A learning control algorithm is proposed, and the convergence of learning using this algorithm is guaranteed by 2D stability. The learning algorithm is applied successfully to the trajectory tracking control problem for a parallel link robot manipulator. The excellent performance of this learning algorithm is demonstrated by computer simulation results

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990

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