English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

Perfect tracking of the tip position of a flexible-link manipulator (FLM) is unable to be achieved by causal control because it is a typical non-minimum phase system. Combined with non-causal stable inversion, an adaptive iterative learning control scheme based on Fourier basis function is presented for the tip trajectory tracking of FLM performing repetitive tasks. In this method, an iterative identification algorithm is used to construct the Fourier basis function space model of the manipulator, and a pseudoinverse type iterative learning law is designed to approximate the stable inversion of the non-minimum phase system, which guarantees the convergence and robustness of the control system. Simulation results show the performance and effectiveness of the proposed scheme.

Iterative learning control for flexible manipulator using fourier basis function