In this chapter, the research for plants with unmeasurable states and unknown control gain is carried out by taking manipulator as investigation object, which successfully overcomes the design difficulty from unknown control gain, absence of measurement of states and output delays. During the design the observer gain is determined by using LMI method and hyperbolic tangent function and convergent sequence are employed to design the robust term for purposed of guaranteeing the learning convergence.
Observer-Based AILC Design for Robotic Manipulator
Iterative Learning Control for Nonlinear Time-Delay System ; Kapitel : 6 ; 161-178
01.01.2023
18 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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