Iterative Learning Control and its Applications

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dc.contributor.advisorShan, Jinjun
dc.contributor.authorZhao, Peng-Hai
dc.date.accessioned2021-07-06T12:43:47Z
dc.date.available2021-07-06T12:43:47Z
dc.date.copyright2021-01
dc.date.issued2021-07-06
dc.date.updated2021-07-06T12:43:47Z
dc.degree.disciplineEarth & Space Science
dc.degree.levelMaster's
dc.degree.nameMSc - Master of Science
dc.description.abstractRobotic manipulators and Unmanned Aerial Vehicles (UAVs) have been used to execute some repeatable assignments, due to the advantage of safety, convenience, and flexibility. Iterative learning control (ILC) is an approach to eliminate some repeatable disturbance which may come from unknown parameters, dynamic uncertainties, or the surroundings. Therefore, this research aims to present two types of iterative learning controller, PD-type and adaptive-type, to implement on robotic manipulator and UAVs, which would complete the given repetitive missions and achieve the expected specifications. Meanwhile, a dead zone inverse model is proposed to solve the actuator dead zone problem. The traditional hierarchical control method for UAVs is adopted. The inner loop control performance is verified using Gimbal. The free flight experimental test is completed with the purpose of certifying the proposed out loop control stratagem. In addition, theoretical proof and simulation results are also presented to demonstrate the effectiveness of the proposed controllers.
dc.identifier.urihttp://hdl.handle.net/10315/38444
dc.languageen
dc.rightsAuthor owns copyright, except where explicitly noted. Please contact the author directly with licensing requests.
dc.subjectEngineering
dc.subject.keywordsiterative learning control
dc.subject.keywordsrobot manipulator
dc.subject.keywordsunmanned aerial vehicles
dc.titleIterative Learning Control and its Applications
dc.typeElectronic Thesis or Dissertation

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