title: Repetitive learning control: a Lyapunov-based approach.
abstract: In this paper, a learning-based feedforward term is developed to solve a general control problem in the presence of unknown nonlinear dynamics with a known period. Since the learning-based feedforward term is generated from a straightforward Lyapunov-like stability analysis, the control designer can utilize other Lyapunov-based design techniques to develop hybrid control schemes that utilize learning-based feedforward terms to compensate for periodic dynamics and other Lyapunov-based approaches (e.g., adaptive-based feedforward terms) to compensate for nonperiodic dynamics. To illustrate this point, a hybrid adaptive/learning control scheme is utilized to achieve global asymptotic link position tracking for a robot manipulator.
authors.affiliation: Robotics & Process Syst. Div., Oak Ridge Nat. Lab., TN.
authors.forename: W E
authors.initials: WE
authors.lastname: Dixon
authors.forename: E
authors.initials: E
authors.lastname: Zergeroglu
authors.forename: D M
authors.initials: DM
authors.lastname: Dawson
authors.forename: B T
authors.initials: BT
authors.lastname: Costic