| Autor: |
Tianjiang Hu, Shuyuan Wang, Han Zhou, Guangming Wang, Daibing Zhang |
| Jazyk: |
angličtina |
| Rok vydání: |
2016 |
| Předmět: |
|
| Zdroj: |
International Journal of Advanced Robotic Systems, Vol 13 (2016) |
| Druh dokumentu: |
article |
| ISSN: |
1729-8814 |
| DOI: |
10.5772/63632 |
| Popis: |
This article offers new insights on the learning control approach developed by [Hu et al. IEEE/ASME Trans. Mechatronics, 19(1): 191–200, 2014]. Theoretical insights are further proposed to unveil why the contraction-type iterative learning control (ILC) schemes are suitable and effective in compensating for hysteresis, widely existing in biorobotic locomotion. Under such circumstances, iteration-based second-order dynamics is adopted to describe the biorobotic systems acted upon by one unknown Preisach hysteresis term. The memory clearing operator is mathematically proven to enable feasibility of contraction-type ILC methods, regardless of whether the initial state is accurately set or not. The simulation examples confirm that the developed iteration-based controller combined with a preceded operator effectively reduce tracking errors caused by the hysteresis nonlinearity. Furthermore, the new insights on theoretical feasibility are definitively corroborated in accordance with the previously published experimental results. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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