Brief paper: A global adaptive learning control for robotic manipulators
Automatica (Journal of IFAC)
Global learning controls for uncertain relative degree one linear systems: a comparative study
ACC'09 Proceedings of the 2009 conference on American Control Conference
IEEE Transactions on Neural Networks
Adaptive backstepping fuzzy control for nonlinearly parameterized systems with periodic disturbances
IEEE Transactions on Fuzzy Systems
Observer-based adaptive iterative learning control for nonlinear systems with time-varying delays
International Journal of Automation and Computing
Automatica (Journal of IFAC)
Partial-period adaptive repetitive control by symmetry
Automatica (Journal of IFAC)
On incremental adaptive strategies
ICIC'13 Proceedings of the 9th international conference on Intelligent Computing Theories and Technology
| Hi-index | 0.01 |
In this paper, a learning-based feedforward term is developed to solve a general control problem in the presence of unknown nonlinear dynamics with a known period. Since the learning-based feedforward term is generated from a straightforward Lyapunov-like stability analysis, the control designer can utilize other Lyapunov-based design techniques to develop hybrid control schemes that utilize learning-based feedforward terms to compensate for periodic dynamics and other Lyapunov-based approaches (e.g., adaptive-based feedforward terms) to compensate for nonperiodic dynamics. To illustrate this point, a hybrid adaptive/learning control scheme is utilized to achieve global asymptotic link position tracking for a robot manipulator