Adaptive Multi-Step Learning Control for Time-Varying Linear Systems

YAMASHITA Yuh, MIYAMOTO Junichi, SHIMA Masasuke

doi:10.5687/iscie.7.134

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Other Title

線形時変系に対する適応多段型学習制御
センケイジヘンケイニタイスルテキオウタダンガタガクシュウセイギョ

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Description

In this paper, the adaptive multi-step learning control for continuous-time linear system is studied. Input function u_k+1 (t) is calculated from the triplets (u_k, e_k, e_k) and (u_k-1, e_k-1, e_k-1) where e_k is tracking error of k-th trial. The weighting coefficients of the triplets are determined adaptively. The convergence of the control law is proved by means of evaluation of the norm of tracking error. Moreover, the learning control is applied to the tracking problem of two-link robot manipulator.

Journal

Transactions of the Institute of Systems, Control and Information Engineers

Transactions of the Institute of Systems, Control and Information Engineers 7 (4), 134-141, 1994

THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

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Details 詳細情報について

CRID: 1390282680141886592

NII Article ID: 10007137857

NII Book ID: AN1013280X

DOI: 10.5687/iscie.7.134

ISSN: 2185811X; 13425668

NDL BIB ID: 3873115

Web Site: http://id.ndl.go.jp/bib/3873115; https://ndlsearch.ndl.go.jp/books/R000000004-I3873115

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