Repositioning control of a two-link flexible arm by learning
type: Item
instance of: scholarly article
title: Repositioning control of a two-link flexible arm by learning
zbMATH Open document ID: 0882.93053
DOI: 10.1016/S0005-1098(96)00199-9
author: G. Ulivi
author: Pasquale Lucibello
author: Stefano Panzieri
published in: Automatica
publication date: 1998-02-01T00:00:00Z
review text: This paper considers the repositioning control of a two-link arm, the second one being flexible, using a learning strategy. It is shown that by using state feedback the nonlinear system can be transformed into a perturbed linear one, for which a general theory has been presented previously. It is proved that the proposed learning algorithm is robust, not only with respect to sufficiently small nonlinear plant perturbations, but also with respect to unmodeled high-frequency dynamics. The experimental results, presented at the end of the paper, confirm the validity of the approach.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93C73
zbMATH DE Number: 1038723
zbMATH Keywords: robustness
zbMATH Keywords: repositioning control
zbMATH Keywords: two-link arm
zbMATH Keywords: flexible arm
zbMATH Keywords: learning algorithm
zbMATH Keywords: perturbations
zbMATH Keywords: high-frequency dynamics
reviewed by: Clementina Mladenova
MaRDI profile type: Publication
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description: scientific article; zbMATH DE number 1038723