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In this paper, a new data-driven ILC method is proposed for I/O constrained nonlinear systems. An iterative dynamic linearization is introduced for the controlled nonlinear systems. All of the constraints on the system inputs and outputs are reformulated with a linear matrix inequality. The learning control law is then developed by minimizing a predesigned cost function subjected to the linear matrix...
A robot can be used to non-contact measurement with a structured-light scanner fixed to its end effector. In order to transform the 2-dimension values measured by the sensor into the 3-dimension values in the world frame, the geometric model of the system is established. A method to estimate hand-eye matrix is presented, which uses a radius-known ball, whose center is derived from the least square...
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