An interative learning control scheme using the weighted least-squares method

 
This item is provided by the institution :

Repository :
Digital Library of National Technical University of Athens | Dspace@NTUA
see the original item page
in the repository's web site and access all digital files if the item*
share



Semantic enrichment by EKT
Journal part (EN)
Scientific article (EN)
1991 (EN)
An interative learning control scheme using the weighted least-squares method (EN)
Watanabe, K (EN)
Fukuda, T (EN)
Tzafestas, SG (EN)
An iterative learning control scheme is described for linear discrete-time systems. A weighted least-squares criterion of learning error is optimized to obtain a unique control gain for a case when the number of sampling is relatively small. It is then shown that algorithmic convergence can be readily guaranteed, because the present learning rule consists of a steady-state Kalman filter. By paying attention to the sparse system structure for the system's impulse response model, we further derive a suboptimal iterative learning control for a practical case when the number of sampling is large. © 1991 Kluwer Academic Publishers. (EN)
journalArticle (EN)
robot manipulator (EN)
impulse response model (EN)
sparse system structure (EN)
Kalman filter (EN)
Computer Science, Artificial Intelligence (EN)
weighted least-squares method (EN)
Robotics (EN)
Iterative learning control (EN)
National Technical University of Athens
Digital Library of National Technical University of Athens | Dspace@NTUA
Κεντρική Βιβλιοθήκη Ε.Μ.Π.
Ιδρυματικό Αποθετήριο
Δημοσιεύσεις μελών Δ.Ε.Π. σε περιοδικά
Journal of Intelligent & Robotic Systems (EN)
English
1991 (EN)
http://hdl.handle.net/123456789/10365
3 (EN)
267 (EN)
4 (EN)
ISI:A1991GE15300004 (EN)
0921-0296 (EN)
10.1007/BF00303227 (EN)
284 (EN)
Kluwer Academic Publishers (EN)



*Institutions are responsible for keeping their URLs functional (digital file, item page in repository site)