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ADJOINT-TYPE ITERATIVE LEARNING CONTROL FOR A SINGLE-LINK FLEXIBLE ARM
Koji Kinoshita* Takuya Sogo* Norihiko Adachi*
* Graduate School of Informatics, Kyoto University
Yoshida-Honmachi, Sakyo ward, Kyoto city, Kyoto 606-8501,
JAPAN
(E-mail: kinosita@sys.i.kyoto-u.ac.jp)
Iterative learning control (ILC) obtains a desired input that exactly generates the desired output through repetitions of the same tasks. In this paper, an experiment of the adjoint-type ILC is carried out by using a single-link flexible arm. Experimental results show that even if the single-link flexible arm is modeled by a simple method and has some uncertainties, exact output tracking is achieved. Moreover, the pre-actuation which is remarkable aspect of the adjoint-type ILC is observed.
Keywords: Learning control, Iterative methods, Flexible arms, Non-minimum phase systems, Inverse system, Gradient methods
Session slot T-We-M03: Applications of Adaptive Control/Area code 3b : Adaptive Control and Tuning
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