Output regulation of flexible mechanisms by learning

The problem of regulating the output of a flexible mechanism by means of learning algorithms is discussed. A general methodology is presented, and its applicability in the face of neglected high-frequency dynamics is investigated. The learning algorithm introduced is of the gradient type and its con...

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Bibliographic Details
Published in[1992] Proceedings of the 31st IEEE Conference on Decision and Control pp. 2533 - 2538 vol.3
Main Author Lucibello, P.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1992
Subjects
Acceleration
Control systems
Equations
Error correction
Force control
H infinity control
Linear systems
Robots
Trajectory
Velocity control
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Summary:The problem of regulating the output of a flexible mechanism by means of learning algorithms is discussed. A general methodology is presented, and its applicability in the face of neglected high-frequency dynamics is investigated. The learning algorithm introduced is of the gradient type and its convergence has been at least proven in the case of sufficiently small elastic displacements. The performance of the proposed learning algorithm is illustrated by means of an academic example.< >
ISBN:9780780308725
0780308727
DOI:10.1109/CDC.1992.371069