Iterative Control and Its Applications to the Trajectory Control of Robot Manipulators

摘要

There is a new control method called “learning control” proposed by Uchiyama and Arimoto et al., However, in this control method, there is no precise proof on the convergence provided that the trial time interval is assumed to be infinite, and further, plants which can be controlled are restricted to having transfer functions of relative order zero. In this paper, we improve this control method and give precise proof on the convergence, and the results are applied to the trajectory control of robot manipulators.