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In this paper, we presents a new class of iterative learning control law for a class of nonlinear systems, denoted PD-IPD, which is composed by adding a derivative term in the integrator of PID learning control law. By using Bellman-Gronwall lemma, the simple explicit conditions on the learning gains to ensure convergence are provided in the sense of Lambda norm. An attractive feature of PD-IPD learning...
To resolve the problem of trajectory tracking of robot which have uncertain parameters and many uncertain ingredients. In high precise control, feedforward control can improve the tracking performance of system, this text present a kind of PD controller with feedforward based on adaptive theory. And by MATLAB simulation, this method is effective.
The main control problem of visual servoing is to cope with the delay introduced by image acquisition and image processing. This delay is the main reason for limited tracking velocity and acceleration. Predictive algorithms are one solution to handle the delay. A predictor is constructed using BP neural network. It is able to estimate the moving target state even if the motion model of the target...
The stability and robustness analysis of PD-plus-feedforward controllers comprised of a nonlinear gain PD feedback controller and a nominal manipulator dynamics feedforward term is presented for the tracking control of rigid robot manipulators. Exponential convergence and the uniform ultimate boundedness of the tracking errors are established. Finally, simulation results are also presented.
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