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Adaptive And Iterative Learning Control For Robot Trajectory Tracking
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Book Synopsis 2021 IEEE 4th Advanced Information Management, Communicates, Electronic and Automation Control Conference (IMCEC) by : IEEE Staff
Download or read book 2021 IEEE 4th Advanced Information Management, Communicates, Electronic and Automation Control Conference (IMCEC) written by IEEE Staff and published by . This book was released on 2021-06-18 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The aim of IMCEC 2021 is to provide a platform for researchers, engineers, academicians as well as industrial professionals from all over the world to present their research results and development activities in Advanced Information Management,Communicates,Electronic and Automation Control It provides opportunities for the delegates to exchange new ideas and application experiences, to establish business or research relations and to find global partners for future collaboration
Book Synopsis Iterative Learning Control by : Hyo-Sung Ahn
Download or read book Iterative Learning Control written by Hyo-Sung Ahn and published by Springer Science & Business Media. This book was released on 2007-06-28 with total page 237 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph studies the design of robust, monotonically-convergent iterative learning controllers for discrete-time systems. It presents a unified analysis and design framework that enables designers to consider both robustness and monotonic convergence for typical uncertainty models, including parametric interval uncertainties, iteration-domain frequency uncertainty, and iteration-domain stochastic uncertainty. The book shows how to use robust iterative learning control in the face of model uncertainty.
Book Synopsis Adaptive Control for Robotic Manipulators by : Dan Zhang
Download or read book Adaptive Control for Robotic Manipulators written by Dan Zhang and published by CRC Press. This book was released on 2017-02-03 with total page 441 pages. Available in PDF, EPUB and Kindle. Book excerpt: The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.
Book Synopsis Linear and Nonlinear Iterative Learning Control by : Jian-Xin Xu
Download or read book Linear and Nonlinear Iterative Learning Control written by Jian-Xin Xu and published by Springer. This book was released on 2003-09-04 with total page 177 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph summarizes the recent achievements made in the field of iterative learning control. The book is self-contained in theoretical analysis and can be used as a reference or textbook for a graduate level course as well as for self-study. It opens a new avenue towards a new paradigm in deterministic learning control theory accompanied by detailed examples.
Book Synopsis Practical Iterative Learning Control with Frequency Domain Design and Sampled Data Implementation by : Danwei Wang
Download or read book Practical Iterative Learning Control with Frequency Domain Design and Sampled Data Implementation written by Danwei Wang and published by Springer. This book was released on 2014-06-19 with total page 232 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is on the iterative learning control (ILC) with focus on the design and implementation. We approach the ILC design based on the frequency domain analysis and address the ILC implementation based on the sampled data methods. This is the first book of ILC from frequency domain and sampled data methodologies. The frequency domain design methods offer ILC users insights to the convergence performance which is of practical benefits. This book presents a comprehensive framework with various methodologies to ensure the learnable bandwidth in the ILC system to be set with a balance between learning performance and learning stability. The sampled data implementation ensures effective execution of ILC in practical dynamic systems. The presented sampled data ILC methods also ensure the balance of performance and stability of learning process. Furthermore, the presented theories and methodologies are tested with an ILC controlled robotic system. The experimental results show that the machines can work in much higher accuracy than a feedback control alone can offer. With the proposed ILC algorithms, it is possible that machines can work to their hardware design limits set by sensors and actuators. The target audience for this book includes scientists, engineers and practitioners involved in any systems with repetitive operations.
Book Synopsis Iterative Learning Control for Nonlinear Time-Delay System by : Jianming Wei
Download or read book Iterative Learning Control for Nonlinear Time-Delay System written by Jianming Wei and published by Springer Nature. This book was released on 2023-01-01 with total page 185 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on adaptive iterative learning control problem for nonlinear time-delay systems.A universal adaptive learning control scheme is provided for a wide classes of nonlinear systems with time-varying delay and input nonlinearity. Proceeding from easy to difficult, this book deals with the adaptive iterative learning control problems for parameterized nonlinear time-delay systems, non-parameterized nonlinear time-delay systems, nonlinear time-delay systems with unknown control direction and nonlinear time-delay systems with un-measurable states. The proposed control schemes can be extended to the adaptive learning control problem for wider classes of nonlinear systems revelent to abovementioned nonlinear systems.The topics presented in this book are research hot spots of iterative learning control. This book will be a valuable reference for researchers and students working or studying in this area.
Book Synopsis Iterative Learning Control by : Zeungnam Bien
Download or read book Iterative Learning Control written by Zeungnam Bien and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt: Iterative Learning Control (ILC) differs from most existing control methods in the sense that, it exploits every possibility to incorporate past control informa tion, such as tracking errors and control input signals, into the construction of the present control action. There are two phases in Iterative Learning Control: first the long term memory components are used to store past control infor mation, then the stored control information is fused in a certain manner so as to ensure that the system meets control specifications such as convergence, robustness, etc. It is worth pointing out that, those control specifications may not be easily satisfied by other control methods as they require more prior knowledge of the process in the stage of the controller design. ILC requires much less information of the system variations to yield the desired dynamic be haviors. Due to its simplicity and effectiveness, ILC has received considerable attention and applications in many areas for the past one and half decades. Most contributions have been focused on developing new ILC algorithms with property analysis. Since 1992, the research in ILC has progressed by leaps and bounds. On one hand, substantial work has been conducted and reported in the core area of developing and analyzing new ILC algorithms. On the other hand, researchers have realized that integration of ILC with other control techniques may give rise to better controllers that exhibit desired performance which is impossible by any individual approach.
Book Synopsis Adaptive and Learning Systems by : Kumpati S. Narendra
Download or read book Adaptive and Learning Systems written by Kumpati S. Narendra and published by Springer Science & Business Media. This book was released on 2013-11-22 with total page 410 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume offers a glimpse of the status of research in adaptive and learning systems in 1985. In recent years these areas have spawned a multiplicity of ideas so rapidly that the average research worker or practicing engineer is overwhelmed by the flood of information. The Yale Workshop on Applications of Adaptive Systems Theory was organized in 1979 to provide a brief respite from this deluge, wherein critical issues may be examined in a calm and collegial environment. The fourth of the series having been held in May 1985, it has now become well established as a biennial forum for the lively exchange of ideas in the ever changing domain of adaptive systems. The scope of this book is broad and ranges from theoretical investigations to practical applications. It includes twenty eight papers by leaders in the field, selected from the Pro ceedings of the Fourth Yale Workshop and divided into five sections. I have provided a brief introduction to each section so that it can be read as a self-contained unit. The first section, devoted to adaptive control theory, suggests the intensity of activity in the field and reveals signs of convergence towards some common themes by workers with rather different moti vation. Preliminary results concerning the reduced order model problem are dramatically changing the way we view the field and bringing it closer to other areas such as robust linear control where major advances have been recently reported.
Book Synopsis Iterative Learning Control Algorithms and Experimental Benchmarking by : Eric Rogers
Download or read book Iterative Learning Control Algorithms and Experimental Benchmarking written by Eric Rogers and published by John Wiley & Sons. This book was released on 2023-01-12 with total page 454 pages. Available in PDF, EPUB and Kindle. Book excerpt: Iterative Learning CONTROL ALGORITHMS AND EXPERIMENTAL BENCHMARKING Iterative Learning Control Algorithms and Experimental Benchmarking Presents key cutting edge research into the use of iterative learning control The book discusses the main methods of iterative learning control (ILC) and its interactions, as well as comparator performance that is so crucial to the end user. The book provides integrated coverage of the major approaches to-date in terms of basic systems, theoretic properties, design algorithms, and experimentally measured performance, as well as the links with repetitive control and other related areas. Key features: Provides comprehensive coverage of the main approaches to ILC and their relative advantages and disadvantages. Presents the leading research in the field along with experimental benchmarking results. Demonstrates how this approach can extend out from engineering to other areas and, in particular, new research into its use in healthcare systems/rehabilitation robotics. The book is essential reading for researchers and graduate students in iterative learning control, repetitive control and, more generally, control systems theory and its applications.
Book Synopsis Iterative Learning Control for Multi-agent Systems Coordination by : Shiping Yang
Download or read book Iterative Learning Control for Multi-agent Systems Coordination written by Shiping Yang and published by John Wiley & Sons. This book was released on 2017-03-08 with total page 408 pages. Available in PDF, EPUB and Kindle. Book excerpt: A timely guide using iterative learning control (ILC) as a solution for multi-agent systems (MAS) challenges, showcasing recent advances and industrially relevant applications Explores the synergy between the important topics of iterative learning control (ILC) and multi-agent systems (MAS) Concisely summarizes recent advances and significant applications in ILC methods for power grids, sensor networks and control processes Covers basic theory, rigorous mathematics as well as engineering practice
Book Synopsis Design, Analysis and Control of Cable-Suspended Parallel Robots and Its Applications by : Bin Zi
Download or read book Design, Analysis and Control of Cable-Suspended Parallel Robots and Its Applications written by Bin Zi and published by Springer. This book was released on 2017-02-18 with total page 309 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides an essential overview of the authors’ work in the field of cable-suspended parallel robots, focusing on innovative design, mechanics, control, development and applications. It presents and analyzes several typical mechanical architectures of cable-suspended parallel robots in practical applications, including the feed cable-suspended structure for super antennae, hybrid-driven-based cable-suspended parallel robots, and cooperative cable parallel manipulators for multiple mobile cranes. It also addresses the fundamental mechanics of cable-suspended parallel robots on the basis of their typical applications, including the kinematics, dynamics and trajectory tracking control of the feed cable-suspended structure for super antennae. In addition it proposes a novel hybrid-driven-based cable-suspended parallel robot that uses integrated mechanism design methods to improve the performance of traditional cable-suspended parallel robots. A comparative study on error and performance indices of hybrid-driven based and traditional cable-suspended parallel robots rounds out the coverage. This book addresses the needs of researchers, engineers and post-graduates in the field of cable-suspended parallel robots and related areas.
Book Synopsis Data-Driven Iterative Learning Control for Discrete-Time Systems by : Ronghu Chi
Download or read book Data-Driven Iterative Learning Control for Discrete-Time Systems written by Ronghu Chi and published by Springer Nature. This book was released on 2022-11-15 with total page 239 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book belongs to the subject of control and systems theory. It studies a novel data-driven framework for the design and analysis of iterative learning control (ILC) for nonlinear discrete-time systems. A series of iterative dynamic linearization methods is discussed firstly to build a linear data mapping with respect of the system’s output and input between two consecutive iterations. On this basis, this work presents a series of data-driven ILC (DDILC) approaches with rigorous analysis. After that, this work also conducts significant extensions to the cases with incomplete data information, specified point tracking, higher order law, system constraint, nonrepetitive uncertainty, and event-triggered strategy to facilitate the real applications. The readers can learn the recent progress on DDILC for complex systems in practical applications. This book is intended for academic scholars, engineers, and graduate students who are interested in learning control, adaptive control, nonlinear systems, and related fields.
Book Synopsis Discrete-Time Adaptive Iterative Learning Control by : Ronghu Chi
Download or read book Discrete-Time Adaptive Iterative Learning Control written by Ronghu Chi and published by Springer Nature. This book was released on 2022-03-21 with total page 211 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book belongs to the subject of control and systems theory. The discrete-time adaptive iterative learning control (DAILC) is discussed as a cutting-edge of ILC and can address random initial states, iteration-varying targets, and other non-repetitive uncertainties in practical applications. This book begins with the design and analysis of model-based DAILC methods by referencing the tools used in the discrete-time adaptive control theory. To overcome the extreme difficulties in modeling a complex system, the data-driven DAILC methods are further discussed by building a linear parametric data mapping between two consecutive iterations. Other significant improvements and extensions of the model-based/data-driven DAILC are also studied to facilitate broader applications. The readers can learn the recent progress on DAILC with consideration of various applications. This book is intended for academic scholars, engineers and graduate students who are interested in learning control, adaptive control, nonlinear systems, and related fields.
Book Synopsis Control Theory of Non-linear Mechanical Systems by : Suguru Arimoto
Download or read book Control Theory of Non-linear Mechanical Systems written by Suguru Arimoto and published by Oxford Engineering Science. This book was released on 1996 with total page 306 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces a new framework for non-linear analysis and control of intelligent machines such as robot arms, mechanical hands, and other advanced mechatronic systems. It clarifies the physical and mathematical prinicples underlying the complicated dynamics of non-linear mechanicalsystems and deals with the design of controllers that enable sophisticated tasks to be executed. A new concept called `non-linear position-dependent circuits' plays a crucial role, together with passivity analysis as a generalization of the impedance concept. Adaptability and learnability of robotarms and hands as intelligent machines are aLso analysed through visible expressions of their dynamics via corresponding non-linear circuits and generalized impedance concepts.This approach may mark a milestone not only in development of a control theory for advanced mechatronics systems but also in the long path toward understanding the mysteries of motor control in the human central nervous system.
Book Synopsis Active Vibration Control and Stability Analysis of Flexible Beam Systems by : Wei He
Download or read book Active Vibration Control and Stability Analysis of Flexible Beam Systems written by Wei He and published by Springer. This book was released on 2018-12-17 with total page 202 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents theoretical explorations of several fundamental problems in the dynamics and control of flexible beam systems. By integrating fresh concepts and results to form a systematic approach to control, it establishes a basic theoretical framework. It includes typical control design examples verified using MATLAB simulation, which in turn illustrate the successful practical applications of active vibration control theory for flexible beam systems. The book is primarily intended for researchers and engineers in the control system and mechanical engineering community, offering them a unique resource.
Book Synopsis Iterative Learning Control for Flexible Structures by : Tingting Meng
Download or read book Iterative Learning Control for Flexible Structures written by Tingting Meng and published by Springer Nature. This book was released on 2020-03-23 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents iterative learning control (ILC) to address practical issues of flexible structures. It is divided into four parts: Part I provides a general introduction to ILC and flexible structures, while Part II proposes various types of ILC for simple flexible structures to address issues such as vibration, input saturation, input dead-zone, input backlash, external disturbances, and trajectory tracking. It also includes simple partial differential equations to deal with the common problems of flexible structures. Part III discusses the design of ILC for flexible micro aerial vehicles and two-link manipulators, and lastly, Part IV offers a summary of the topics covered. Unlike most of the literature on ILC, which focuses on ordinary differential equation systems, this book explores distributed parameter systems, which are comparatively less stabilized through ILC.Including a comprehensive introduction to ILC of flexible structures, it also examines novel approaches used in ILC to address input constraints and disturbance rejection. This book is intended for researchers, graduate students and engineers in various fields, such as flexible structures, external disturbances, nonlinear inputs and tracking control.
Book Synopsis Mechatronics and Automation Technology by : J. Xu
Download or read book Mechatronics and Automation Technology written by J. Xu and published by IOS Press. This book was released on 2023-01-04 with total page 730 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the development of science and technology, mechatronics and automation have changed the face of the traditional machinery manufacturing industry and become an important aspect of information technology and modern industrial production, with a huge impact in many diverse fields such as manufacturing, robotics, automation, the automobile industry and biomedicine. This book contains the proceedings of ICMAT 2022, the 2022 International Conference on Mechatronics and Automation Technology, held as a virtual event due to restrictions related to the COVID-19 pandemic, and hosted in Wuhan, China on 29 and 30 October 2022. The ICMAT conference is an ideal platform for bringing together researchers, practitioners, scholars, academics and engineers from all around the world to exchange the latest research results and stimulate scientific innovations. The conference received a total of 117 submissions, of which 82 papers were accepted for presentation and publication after a rigorous process of peer-review. The topics covered include mechanical manufacturing and equipment, robotics, information technology, automation technology, automotive systems, biomedicine and other related fields. The book provides an overview of technologies and applications in mechatronics and automation technology, as well as current research and development, and will be of interest to researchers, engineers, and educators working in the field.
