By Topic

Tracking control of a belt-driving system using improved Fourier series based learning controller

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)
Yang Zhu ; Dept. of Mech. Eng., Hong Kong Univ. of Sci. & Technol., Kowloon, China ; Wei Zuo ; Lilong Cai

The flexible joints in robotic manipulators may lower the bandwidth of the robotic system. Therefore, it is difficult to achieve good control performance on robots with flexible joints by the conventional control schemes. In this paper, we presented the implementation and improvement of the Fourier series based learning controller for tracking control of a belt-driving system which is one type of flexible joints. Experimental results demonstrate the effectiveness of the applied methodology.

Published in:

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Date of Conference:

2-6 Aug. 2005