Volume 12 Number 6
December 2015
Article Contents
Li Zhang and Shan Liu. Iterative Learning Control for Flexible Manipulator Using Fourier Basis Function. International Journal of Automation and Computing, vol. 12, no. 6, pp. 639-647, 2015. doi: 10.1007/s11633-015-0932-8
Cite as: Li Zhang and Shan Liu. Iterative Learning Control for Flexible Manipulator Using Fourier Basis Function. International Journal of Automation and Computing, vol. 12, no. 6, pp. 639-647, 2015. doi: 10.1007/s11633-015-0932-8

Iterative Learning Control for Flexible Manipulator Using Fourier Basis Function

  • Received: 2014-04-30
Fund Project:

This work was supported by National Natural Science Foundation of China (No. 61273133).

通讯作者: 陈斌, bchen63@163.com
  • 1. 

    沈阳化工大学材料科学与工程学院 沈阳 110142

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Iterative Learning Control for Flexible Manipulator Using Fourier Basis Function

Fund Project:

This work was supported by National Natural Science Foundation of China (No. 61273133).

Abstract: Perfect tracking of the tip position of a flexible-link manipulator (FLM) is unable to be achieved by causal control because it is a typical non-minimum phase system. Combined with non-causal stable inversion, an adaptive iterative learning control scheme based on Fourier basis function is presented for the tip trajectory tracking of FLM performing repetitive tasks. In this method, an iterative identification algorithm is used to construct the Fourier basis function space model of the manipulator, and a pseudoinverse type iterative learning law is designed to approximate the stable inversion of the non-minimum phase system, which guarantees the convergence and robustness of the control system. Simulation results show the performance and effectiveness of the proposed scheme.

Li Zhang and Shan Liu. Iterative Learning Control for Flexible Manipulator Using Fourier Basis Function. International Journal of Automation and Computing, vol. 12, no. 6, pp. 639-647, 2015. doi: 10.1007/s11633-015-0932-8
Citation: Li Zhang and Shan Liu. Iterative Learning Control for Flexible Manipulator Using Fourier Basis Function. International Journal of Automation and Computing, vol. 12, no. 6, pp. 639-647, 2015. doi: 10.1007/s11633-015-0932-8
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