Repetitive learning control: a Lyapunov-based approach

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 learningbased 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 non-periodic dynamics. To illustrate this point, a hybrid adaptive/learning control scheme is utilized to achieve global asymptotic link position tracking for a robot manipulator.

• Type: Journal
• Year: 2002
• Where: TSMC
• Authors: Warren E. Dixon, Erkan Zergeroglu, Darren M. Dawson, B. T. Costic
• Keywords: Feedforward Terms, Learning-based Feedforward Terms, Learningbased Feedforward Term, TSMC 2002