Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/69221
Title: Adaptive repetitive learning control of servo mechanisms
Authors: Sun, M.
Ge, S.S. 
Keywords: Adaptive control
Learning control
Lyapunov-like approach
Servo mechanisms
Issue Date: 2004
Source: Sun, M.,Ge, S.S. (2004). Adaptive repetitive learning control of servo mechanisms. Proceedings of the World Congress on Intelligent Control and Automation (WCICA) 2 : 1212-1216. ScholarBank@NUS Repository.
Abstract: In this paper, adaptive repetitive learning control is presented for trajectory tracking of servo mechanisms over the entire operation interval. Through the introduction of a novel Lyapunov-like function, the proposed adaptive learning control only requires the system to start from where it stopped at the last cycle, and avoids the strict requirement for initial repositioning for all the cycles. In addition, it is easily implementable as it only requires the joint position and velocity measurements which are easy to obtain, rather than the acceleration measurement as required by a number of traditional learning controllers. All the signals in the closed-loop are guaranteed to be bounded and the iterative trajectories are proven to follow the entire profile of the desired trajectory.
Source Title: Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
URI: http://scholarbank.nus.edu.sg/handle/10635/69221
Appears in Collections:Staff Publications

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