Advanced SearchSearch Tips
Development of Robust Adaptive Learning Control for Nonlinear System
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
Development of Robust Adaptive Learning Control for Nonlinear System
Yu, Yeong-Sun; Ha, Hwan-Su;
  PDF(new window)
This paper gives an overview of the relationships between methods of loaming and adaptive control. It is the objective of this paper to develop adaptive learning control algorithms that combine the advantages of adaptive control with those of leaning control to the extent possible for the type of system model used. The robustness of this adaptive loaming control with respect to reinitialization errors and fluctuation of dynamics from disturbance is analyzed extensively. Simulation results have shown to verify the effectiveness of the proposed control algorithm.
Robot Manipulator;Adaptive Control;Learning Control;Adaptive Loaming Control;Model Based Adaptive Control;
 Cited by
U자형 TLD시스템에 대한 학습제어 적용,가춘식;유영순;

대한기계학회논문집A, 2004. vol.28. 11, pp.1656-1663 crossref(new window)
Arimoto, S., 1985 'Mathematical theory of learning controls', Proc. of 4th Yale Workshop on Applications of Adaptive Systems Theory, New Haven,CT

AstrOm, K. J. and Wittenmark, B., 1995, Adaptive control, Addison Wesley

Craig, J. J., 1986, Introduction to Robotics : mechanics and control, Addison Wesley

Craig, J. J., Hsu. P. and Sastry, S. S., 1987, 'Adaptive Control of Mechanical Manipulators,' Int. J. Robotics Research, Vol. 6, No. 2, pp. 16-28 crossref(new window)

Longman, R. W. and Ryu, Y. S., 1992, 'Indirect Learning Contrel Algoriths for Time-Varying and Time-Invariant systems,' Proceeding of the Thirtienth Annual Allerton Conference on Communication, Control and Computing, Moticello, IL

Slotine, J. J. E. and Li, W., 1987 'On the Adaptive Control of Robot Manipulators,' Int. J. Robotics Research, Vol. 6, No. 3 crossref(new window)

Ryu, Y. S. and Longman,R. W., 1992, 'Indirect Learning Control for Nonlinear Dynamical Systems,' Advances in the Astronautical Sciences, Vol. 82, part 1, pp. 79-91

Ryu, Y. S. and Longman, R. W., 1995, 'Indirect Learning Control for Linear, Linear Time Varing and Nonlinear System,' Journal of Robotic System, Vol. 12

Choi, B. H., Kuc,T. Y. and Choi, H. R., 1997, '로봇 매니퓰레이터의 실시간 적응 학습제어기,' 대한기계학회 1997년도 춘계학술대회논문집 A, pp. 468-474

Ryu,Y. S. and Longman, R. W., 1997, 'Experiments in the Use of Repetitive Control in Belt Drive Systems,' 97 대한기계학회 경북지부 추계학술대회 논문집, pp. 48-56

Phan, M. and Longman, R. W., 1988, 'A Mathematical Theory of Learning Control for Linear Discrete Multivariable Systems,' Proceedings of the AIAA/AAS Astrodynamics Conference, Minneapolis, Minneolta, August 1988, pp. 740-746

Ryu, Y. S. and Longman, R. W., 1944, 'Use of Anti-Reset Windup in Integral Control Based Leafning Control,' Proceedings of the 1994 IEEE Conference on Systems, Man and Cybernetics, San Antonio, TX