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Application of a recursive minimum-norm learning controller to precision motion control of an underactuated mechanical system

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2 Author(s)
Ai-Ping Hu ; Dept. of Mech. & Ind. Eng., Southern Illinois Univ., Edwardsville, IL, USA ; Sadegh, N.

A recursive method is first presented for obtaining the minimum-norm solution of a linear system of equations. The formulation is then extended to the case of a nonlinear system of equations, the result of which is used as the basis of a repetitive learning controller that is applied experimentally to precision motion control of an underactuated mechanical system tracking a periodic trajectory.

Published in:

American Control Conference, 2004. Proceedings of the 2004  (Volume:4 )

Date of Conference:

June 30 2004-July 2 2004