Iterative Learning Control for Time-Varying Systems Subject to Variable Pass Lengths: Application to Robot Manipulators
In this article, the iterative learning control (ILC) problem is investigated for a class of stochastic time-varying systems with variable pass lengths. The randomness of the pass lengths is described by the recursive interval Gaussian distribution, and a modified iteration-average operator is devel...
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| Published in | IEEE transactions on industrial electronics (1982) Vol. 67; no. 10; pp. 8629 - 8637 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
New York
IEEE
01.10.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
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| Abstract | In this article, the iterative learning control (ILC) problem is investigated for a class of stochastic time-varying systems with variable pass lengths. The randomness of the pass lengths is described by the recursive interval Gaussian distribution, and a modified iteration-average operator is developed to construct the novel ILC scheme for overcoming the limitation of conventional ILC algorithms that every pass must end in a fixed time of duration throughout the repetition. The proposed ILC approach works effectively to guarantee the boundedness of the tracking errors, which is demonstrated by a practical case study on a type of robot manipulator with two joints. |
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| AbstractList | In this article, the iterative learning control (ILC) problem is investigated for a class of stochastic time-varying systems with variable pass lengths. The randomness of the pass lengths is described by the recursive interval Gaussian distribution, and a modified iteration-average operator is developed to construct the novel ILC scheme for overcoming the limitation of conventional ILC algorithms that every pass must end in a fixed time of duration throughout the repetition. The proposed ILC approach works effectively to guarantee the boundedness of the tracking errors, which is demonstrated by a practical case study on a type of robot manipulator with two joints. |
| Author | Sun, Jun Shi, Jiantao Xu, Jianxin Yang, Yuhao |
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| SubjectTerms | Algorithms Gaussian distribution Indexes Iterative learning control Iterative learning control (ILC) Lead Learning Manipulators Normal distribution Randomness Robot arms robot manipulator stochastic time-varying systems Time varying control systems Time-varying systems Tracking errors variable pass lengths |
| Title | Iterative Learning Control for Time-Varying Systems Subject to Variable Pass Lengths: Application to Robot Manipulators |
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