Instructions for Preparing and Transferring Final Papers to Ecc’01
نویسندگان
چکیده
An iterative learning control method is proposed to achieve precise tracking control and end-point vibration suppression of a flexible manipulator system. The learning is done in a feedback configuration with collocated PD control and the learning law updates the feedforward input from the error of the previous trial. Simulation results of the response of the manipulator with the controller are presented in the time and frequency domains. The performance of the hybrid iterative learning control scheme is assessed in terms of input tracking and level of vibration reduction in comparison to a conventionally designed collocated PD with input shaping control scheme.
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Instructions for Preparing and Transferring Final Papers to Ecc
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