Abstract: This paper presents some new results on synthesis and stability analysis of a class of repetitive controllers for discrete-time multi-input multi-output (MIMO) linear time-invariant (LTI) systems. ...

Abstract: This paper presents a new repetitive learning controller for motion control of mechanical manipulators undergoing periodic tasks defined in Cartesian space. The controller does not require knowledge ...

Abstract: In this paper, we present a very simple modification of the iterative learning control algorithm of S. Arimoto et al. (1984, “Bettering Operation of Robots by Learning,” J. Robot Syst., 1 ...

Abstract: This paper deals with the robustness issues associated with the design of an adaptive control servo in the presence of linear unmodeled plant dynamics. In particular, a design methodology for ...

Abstract: This paper describes a novel learning/adaptive state trajectory control method and its application to electronic hydraulic pressure control. The control algorithm presented herein learns the inverse ...

Abstract: This paper describes a multirate repetitive learning controller with an adjustable sampling rate that may be used as an “add-on” module to enhance the tracking performance of a feedback control ...

Abstract: A unified approach, based on Lyapunov theory, for synthesis and stability analysis of adaptive and repetitive controllers for mechanical manipulators is presented. This approach utilizes the ...

Abstract: Comand shaping, a feedforward approach used to control flexible manipulators, performs most effectively when applied to a linear system. In practice, various nonlinearities are present in a given ...