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Learning control system design based on 2-D theory - An application to parallel link manipulatorAn approach to iterative learning control system design based on two-dimensional system theory is presented. A two-dimensional model for the iterative learning control system which reveals the connections between learning control systems and two-dimensional system theory is established. A learning control algorithm is proposed, and the convergence of learning using this algorithm is guaranteed by two-dimensional stability. The learning algorithm is applied successfully to the trajectory tracking control problem for a parallel link robot manipulator. The excellent performance of this learning algorithm is demonstrated by the computer simulation results.
Document ID
19910050582
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Geng, Z.
(George Washington Univ. Washington, DC, United States)
Carroll, R. L.
(George Washington University Washington, DC, United States)
Lee, J. D.
(NASA Goddard Space Flight Center Greenbelt, MD, United States)
Haynes, L. H.
(Intelligent Automation Systems, Inc. Rockville, MD, United States)
Date Acquired
August 15, 2013
Publication Date
January 1, 1990
Subject Category
Cybernetics
Meeting Information
Meeting: I990 IEEE International Conference on Robotics and Automation
Location: Cincinnati, OH
Country: United States
Start Date: May 13, 1990
End Date: May 18, 1990
Accession Number
91A35205
Distribution Limits
Public
Copyright
Other

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