Development of Robust Adaptive Learning Control for Nonlinear System

- Journal title : Transactions of the Korean Society of Mechanical Engineers A
- Volume 25, Issue 12, 2001, pp.1895-1902
- Publisher : The Korean Society of Mechanical Engineers
- DOI : 10.22634/KSME-A.2001.25.12.1895

Title & Authors

Development of Robust Adaptive Learning Control for Nonlinear System

Yu, Yeong-Sun; Ha, Hwan-Su;

Yu, Yeong-Sun; Ha, Hwan-Su;

Abstract

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.

Keywords

Robot Manipulator;Adaptive Control;Learning Control;Adaptive Loaming Control;Model Based Adaptive Control;

Language

Korean

Cited by

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