제어로봇시스템학회:학술대회논문집

제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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ANALYSIS OF LEARNING CONTROL SYSTEMS WITH FEEDBACK(Application to One Link Manipulators)

  • Hashimoto, H. (Institute of Industrial Science, University of Tokyo) ;
  • Kang, Seong-Yun (Institute of Industrial Science, University of Tokyo) ;
  • Jianxin Xu (Institute of Industrial Science, University of Tokyo) ;
  • F. Harashima (Institute of Industrial Science, University of Tokyo)
  • 발행 : 1987.10.01
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초록

In this paper, we present a effective method to control robotic systems by an iterative learning algorithm. This method is based on the concepts of the learning control law which is introduced in this paper, that is, avoidance of using derivative of system state and ignorance of high frequency influence in system performance. By means of the betterment of performance due to the improvement of estimated unknown information, the learning control algorithm compels the system to gradually approach in desired trajectory, and eventually the tracking error asymptotically converges upon zero. In order to verify its utility, one degree of freedom of manipulator has been used in the experiments and the results illustrate this control scheme is very effective.

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