Implementation of learning control techniques using descriptor systems methods

摘要

Learning control algorithms rely on offline estimates of generalized position, velocity, and acceleration errors. This problem is addressed in the framework of the spectral analysis of singular descriptor systems, and a class of robust estimates is introduced. The use of these estimators in the implementation of learning control algorithms has been tested on a prototype manipulator, and experimental results are reported. It is concluded that iterative learning control can be successfully implemented on real manipulators provided that robust estimators for velocity and acceleration are given.