DC Field | Value | Language |
---|---|---|
dc.contributor.author | KUC, TY | - |
dc.contributor.author | LEE, JS | - |
dc.contributor.author | NAM, KH | - |
dc.date.accessioned | 2016-04-01T00:58:47Z | - |
dc.date.available | 2016-04-01T00:58:47Z | - |
dc.date.created | 2009-03-20 | - |
dc.date.issued | 1991-12 | - |
dc.identifier.issn | 1042-296X | - |
dc.identifier.other | 1991-OAK-0000008519 | - |
dc.identifier.uri | https://oasis.postech.ac.kr/handle/2014.oak/22238 | - |
dc.description.abstract | An iterative learning scheme comprising a unique feedforward learning controller and a linear feedback controller is presented. In the feedback loop, the fixed-gain PD controller provides a stable open neighborhood along a desired trajectory. In the feedforward path, on the other hand, a learning control strategy is exploited to predict the desired actuator torques. It is shown that the predicted actuator torque converges to the desired one as the iteration number increases. The convergence is established based on the Lyapunov stability theory. The proposed learning scheme is structurally simple and computationaly efficient. Moreover, it posesses two major advantages: the ability to reject unknown deterministic disturbances and the ability to adapt itself to the unknown system parameters. | - |
dc.description.statementofresponsibility | X | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.relation.isPartOf | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | - |
dc.title | AN ITERATIVE LEARNING CONTROL OF ROBOT MANIPULATORS | - |
dc.type | Article | - |
dc.contributor.college | 전자전기공학과 | - |
dc.identifier.doi | 10.1109/70.105392 | - |
dc.author.google | KUC, TY | - |
dc.author.google | LEE, JS | - |
dc.author.google | NAM, KH | - |
dc.relation.volume | 7 | - |
dc.relation.startpage | 835 | - |
dc.relation.lastpage | 842 | - |
dc.contributor.id | 10200285 | - |
dc.relation.journal | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | - |
dc.relation.index | SCI급, SCOPUS 등재논문 | - |
dc.relation.sci | SCIE | - |
dc.collections.name | Journal Papers | - |
dc.type.rims | ART | - |
dc.identifier.bibliographicCitation | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, v.7, no.6, pp.835 - 842 | - |
dc.identifier.wosid | A1991GQ68500012 | - |
dc.citation.endPage | 842 | - |
dc.citation.number | 6 | - |
dc.citation.startPage | 835 | - |
dc.citation.title | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | - |
dc.citation.volume | 7 | - |
dc.contributor.affiliatedAuthor | LEE, JS | - |
dc.identifier.scopusid | 2-s2.0-0026364744 | - |
dc.description.journalClass | 1 | - |
dc.description.journalClass | 1 | - |
dc.description.wostc | 20 | - |
dc.type.docType | Note | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Robotics | - |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.
library@postech.ac.kr Tel: 054-279-2548
Copyrights © by 2017 Pohang University of Science ad Technology All right reserved.