Robust Iterative Learning Control Design: Application to a Robot Manipulator
- 7 October 2008
- journal article
- research article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE/ASME Transactions on Mechatronics
- Vol. 13 (5), 608-613
- https://doi.org/10.1109/tmech.2008.2004627
Abstract
This paper deals with robust iterative learning control design for uncertain single-input-single-output linear time-invariant systems. The design procedure is based upon solving the robust performance condition using the Youla parameterization and the mu-synthesis approach to obtain a feedback controller. Thereafter, a convergent iterative learning law is obtained by using the performance weighting function involved in the robust performance condition. Experimental results, on a CRS465 robot manipulator, are provided to illustrate the effectiveness of the proposed design method.Keywords
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