Analysis of two particular iterative learning control schemes in frequency and time domains

Automatica ◽  
2007 ◽  
Vol 43 (9) ◽  
pp. 1565-1572 ◽  
Author(s):  
Abdelhamid Tayebi
Keyword(s):  
Iterative Learning Control ◽  
Learning Control ◽  
Iterative Learning ◽  
Control Schemes ◽  
Time Domains

scholarly journals A Comparison of Optimal Iterative Learning Control Schemes

2001 ◽  
Vol 34 (14) ◽  
pp. 77-82
Author(s):  
M. Rzewuski ◽  
E. Rogers ◽  
D.H. Owens
Keyword(s):  
Iterative Learning Control ◽  
Learning Control ◽  
Iterative Learning ◽  
Control Schemes

Hybrid Learning Control With Input Shaping for Input Tracking and Vibration Suppression of a Flexible Manipulator

Volume 1 ◽  
2004 ◽  
Author(s):  
M. Z. Md Zain ◽  
M. O. Tokhi ◽  
Z. Mohamed
Keyword(s):  
Iterative Learning Control ◽  
Vibration Suppression ◽  
Hybrid Learning ◽  
Learning Control ◽  
Iterative Learning ◽  
Body Motion ◽  
Flexible Manipulator ◽  
Input Shaping ◽  
Control Schemes ◽  
Frequency Domains

The objective of the work reported in this paper is to investigate the development of hybrid iterative learning control with input shaping for input tracking and end-point vibration suppression of a flexible manipulator. The dynamic model of the system is derived using the finite element method. Initially, a collocated proportional-derivative (PD) controller utilizing hub-angle and hub-velocity feedback is developed for control of rigid-body motion of the system. This is then extended to incorporate iterative learning control and a feedforward controller based on input shaping techniques for control of vibration (flexible motion) of the system. Simulation results of the response of the manipulator with the controllers are presented in the time and frequency domains. The performance of the hybrid learning control with input shaping scheme is assessed in terms of input tracking and level of vibration reduction. The effectives of the control schemes in handling various payloads are also studied.

scholarly journals LEGO NXT for experimental validation of iterative learning control schemes

2012 ◽  
Vol 45 (11) ◽  
pp. 128-133
Author(s):  
Anantha Ganesh Kamath ◽  
Vishnuvardhan Avula ◽  
Darine Zambrano
Keyword(s):  
Iterative Learning Control ◽  
Experimental Validation ◽  
Learning Control ◽  
Iterative Learning ◽  
Control Schemes
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