Iterative learning control for manipulator trajectory tracking without any control singularity
No === In this paper, we investigate trajectory tracking in a multi-input nonlinear system, where there is little knowledge of the system parameters and the form of the nonlinear function. An identification-based iterative learning control (ILC) scheme to repetitively estimate the linearity in a nei...
| Main Authors: | , , |
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| Language: | en |
| Published: |
2009
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| Subjects: | |
| Online Access: | http://hdl.handle.net/10454/3158 |