A NONLINEAR ITERATIVE LEARNING-METHOD FOR ROBOT PATH CONTROL
An iterative learning control method is proposed for a class of non-linear dynamic systems with uncertain parameters. The method, in which non-linear system model is used, employs the model algorithmic control concept in the iteration sequence. A sufficient condition for convergency is provided. Then the method is shown to be applicable to continuous-path control of a robot manipulator.
- Publisher
- CAMBRIDGE UNIV PRESS
- Issue Date
- 1991
- Language
- English
- Article Type
- Article
- Citation
ROBOTICA, v.9, pp.392 - 4
- ISSN
- 0263-5747
- Appears in Collection
- EE-Journal Papers(저널논문)
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