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Iterative Learning Control for Flexible Structures

Part of the Springer Tracts in Mechanical Engineering Book Series

DOI: 10.1007/978-981-15-2784-5

ISBN: 978-981-15-2783-8

Publisher: Springer Singapore - Springer Journals

Mar 22, 2020

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Chapter 1Introduction

Meng, Tingting; He, Wei

Pages: 1 –13

[Comparing with rigid structures, flexible structures are of lighter weight, lower energy consumption and higher agility [1–3]. In engineering, flexible structures are widely used due to their flexibility and agility [4, 5], such as flexible manipulators [6–9], flexible satellites [10–12],...
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Chapter 2ILC for Vibration Suppression, and Output Regulation and Tracking

Meng, Tingting; He, Wei

Pages: 15 –47

[This chapter first addresses three control problems of flexible structures: vibration control, output regulation and output tracking. In Sect. 2.1, a PD-type ILC scheme is designed for the flexible string system, and the closed-loop system converges towards zero.]
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Chapter 3ILC for Input Nonlinearities

Meng, Tingting; He, Wei

Pages: 49 –82

[This chapter aims to tackle three nonlinear inputs, namely input saturation, input dead-zone and input backlash. In Sect. 3.1, a boundary ILC law is designed to smoothly address input saturation, by adopting hyperbolic tangent functions under identical condition. Section 3.2 divides input...
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Chapter 4ILC for External Disturbances and Systematic Uncertainties

Meng, Tingting; He, Wei

Pages: 83 –107

[This chapter mainly addresses unknown bounded external disturbances and system parameters for an Euler–Bernoulli beam system. In Sect. 4.1, the control objective aims to regulate the endpoint displacement to track the prescribed time-varying reference trajectory, regardless of distributed...
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Chapter 5ILC for a Flexible Single-Link Manipulator

Meng, Tingting; He, Wei

Pages: 109 –128

[In this chapter, the flexible single-link manipulator is described through a set of PDE, and the motion of rigid body is modeled as an ODE. The control objective is to regulate the rigid hub to track a constant trajectory and meanwhile to suppress the vibrations of flexible link, which is...
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Chapter 6ILC for a Flexible Wing Micro Aerial Vehicle

Meng, Tingting; He, Wei

Pages: 129 –152

[Chapter 6 addresses a flexible micro aerial vehicle system, which is composed of a rigid body and two flexible wings involving bending and twisting. Different from the flexible manipulator, there exists coupling in the different deformations of the flexible structure. Based on extended...
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Chapter 7ILC for a Flexible Two-Link Manipulator

Meng, Tingting; He, Wei

Pages: 153 –180

[This chapter considers a flexible two-link manipulator, which is composed of two rigid bodies, two flexible links and a tip payload. Different from the flexible micro aerial vehicle system, the two-link manipulator system is highly coupling not only between the rigid and flexible components, but...
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Chapter 8Conclusion

Meng, Tingting; He, Wei

Pages: 181 –182

[This book has proposed ILC for multifarious flexible structures, including (I) simple flexible structures, such as flexible strings, Euler–Bernoulli beams and Timoshenko beams in Chaps. 2–4; (II) rigid-flexible coupled structures, for instance flexible single-link manipulators in Chap. 5; and...

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