Iterative learning control of completely irregular plants with initial impulsive action

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Iterative learning control of completely irregular plants with initial impulsive action

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© The Institution of Electrical Engineers
Published

Iterative learning controllers with initial impulsive action are characterised for a class of completely irregular linear timeinvariant plants. These theoretical results are illustrated by the presentation of numerical results for the iterative learning control of a second-order plant that is completely irregular, and therefore cannot be controlled directly using previous methods.

Inspec keywords: adaptive control; adaptive systems; iterative methods

Other keywords: iterative learning control; initial impulsive action; completely irregular plants; second-order plant; linear time-invariant plants; direct control; numerical results; iterative learning controllers

Subjects: Self-adjusting control systems; Adaptive system theory

References

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      • S. Arimoto , S. Kawamura , F. Miyazaki . Bettering operation of robots by learning. J. Robotic Systems , 1 , 123 - 140
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      • M. Uchiyama . Formation of high-speed motion pattern of a mechanical arm by trial. Trans. SICE , 706 - 712
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      • Arimoto, S., Kawamura, S., Miyazaki, F.: `Can mechanical robots learn by themselves?', Robotics Research: 2nd Int. Symp., 1985, p. 127–134.
    4. 4)
      • Porter, B., Mohamed, S.S.: `Iterative learning control of completely irregular plants with initial state shifting', Report USAME/DC/101/89, 1989.
    5. 5)
      • Mita, T., Kato, E.: `Iterative control and its application to motion control of robot arm—a direct approach to servo problems', Proc. IEEE Conf. Decision & Control, 1985, p. 1393–1398.
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