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A nonlinear iterative learning method for robot path control

Published online by Cambridge University Press:  09 March 2009

Zeungnam Bien
Dept. of Electrical Eng., KAIST, P.O. Box 150, Cheongryang, Seoul, 130-650 (Korea)
Dong-Hwan Hwang
Dept. of Electrical Eng., KAIST, P.O. Box 150, Cheongryang, Seoul, 130-650 (Korea)
Sang-Rok Oh
Control Systems Lab., KIST, P.O. Box 131, Cheongryang, Seoul, 136-791 (Korea)


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.

Copyright © Cambridge University Press 1991

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