An Iterative Learning Control Scheme for the Capsubot
نویسندگان
چکیده
A Capsubot, which consists of three parts, the inner body, the capsule shell, and the driving mechanism, is a micro capsule robot with no legs and no wheels, and is driven by the interactive propulsion between the inner body and the capsule shell. The desired locomotion of the Capsubot is generated by making the inner body track a designed trajectory repeatedly. Due to the nature of repetitive motion, an iterative learning control scheme is proposed to improve the tracking performance of the inner body, in order to achieve the desired locomotion of the Capsubot. Extensive simulation studies are conducted to demonstrate the effectiveness of the scheme.
منابع مشابه
Iterative learning identification and control for dynamic systems described by NARMAX model
A new iterative learning controller is proposed for a general unknown discrete time-varying nonlinear non-affine system represented by NARMAX (Nonlinear Autoregressive Moving Average with eXogenous inputs) model. The proposed controller is composed of an iterative learning neural identifier and an iterative learning controller. Iterative learning control and iterative learning identification ar...
متن کاملPerfect Tracking of Supercavitating Non-minimum Phase Vehicles Using a New Robust and Adaptive Parameter-optimal Iterative Learning Control
In this manuscript, a new method is proposed to provide a perfect tracking of the supercavitation system based on a new two-state model. The tracking of the pitch rate and angle of attack for fin and cavitator input is of the aim. The pitch rate of the supercavitation with respect to fin angle is found as a non-minimum phase behavior. This effect reduces the speed of command pitch rate. Control...
متن کاملConvergence of an Iterative Scheme for Multifunctions on Fuzzy Metric Spaces
Recently, Reich and Zaslavski have studied a new inexact iterative scheme for fixed points of contractive and nonexpansive multifunctions. In 2011, Aleomraninejad, et. al. generalized some of their results to Suzuki-type multifunctions. The study of iterative schemes for various classes of contractive and nonexpansive mappings is a central topic in fixed point theory. The importance of Banach ...
متن کاملPerformance Analysis of Wireless Cooperative Networks with Iterative Incremental Relay Selection
In this paper, an iterative incremental relay selection (IIRS) scheme is considered for wireless cooperative networks in order to increase the reliability of transmission. Different from the conventional incremental relay selection which incrementally selects a best relay for only one iteration; the IIRS scheme iteratively applies the incremental relaying and relay selection processes. To evalu...
متن کاملAn Iterative Scheme for Generalized Equilibrium, Variational Inequality and Fixed Point Problems Based on the Extragradient Method
The problem ofgeneralized equilibrium problem is very general in the different subjects .Optimization problems, variational inequalities, Nash equilibrium problem and minimax problems are as special cases of generalized equilibrium problem. The purpose of this paper is to investigate the problem of approximating a common element of the set of generalized equilibrium problem, variational inequal...
متن کامل