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Proceedings of the 15th IFAC World Congress : Robotics - J.A De la Puenta

Proceedings of the 15th IFAC World Congress

Robotics

Paperback

Published: 3rd September 2003
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On the robust optimal design and convergence speed analysis of iterative learning control approachesp. 1
Prediction in Iterative Learning Control Schemes Versus learning along the trialsp. 7
Disturbance aspects of high order iterative learning controlp. 13
On monotonic convergence of high order iterative learning update lawsp. 19
Higher-order iterative learning control by pole placement and noise filteringp. 25
Higher order ILC versus alternatives applied to chain conveyor systemsp. 31
Robust adaptive control of uncertain nonlinear systemsp. 37
Optimal model reference adaptive controllers for systems with input nonlinearityp. 43
Iterative optimizing set-point control - the basic principle redesignedp. 49
Robust learning control for a class of uncertain nonlinear systemsp. 55
Extended direct learning control for multi-input multi-output nonlinear systemsp. 61
Robust adaptive control of induction motors with spiral vectorp. 67
Model-set identification based on learning-theoretic inequalitiesp. 73
Learning of FIR and ARX neural networks with empirical risk minimization algorithmp. 79
Identification of reliable predictor models for unknown systems : a data-consistency approach based on learning theoryp. 85
Multiarmed bandits in the worst casep. 91
Non-asymptotic quality assessment of the least squares estimatep. 97
Continuous-time AR parameter estimation by using properties of sampled systemsp. 103
Optimal IV identification and estimation of continuous-time TF modelsp. 109
Continous-time model identification of real-life processes with the CONTSID toolboxp. 115
Infinite-impulse and finite-impulse response filters for continuous-time parameter estimationp. 121
Continuous-time identification using LQG-balanced model reductionp. 127
Numerical illustrations of the relevance of direct continuous-time model identificationp. 133
Identification of the stability of feedback systems in the presence of nonlinear distortionsp. 139
Open-loop worst-case identification of non Schur plantsp. 145
Structure identification of multiple models with output error local modelsp. 151
GA-P based modeling of nonlinear dynamic systemsp. 157
Automatic operating regime selection in local modelingp. 163
Modelling and simulation of batch processes : a case studyp. 169
Simulation and optimization of a styrene monomer reactor using a neural network hybrid modelp. 175
Nonlinear control systems modelling using local linear mappingsp. 181
Estimation of the water-mass-flow through a central heating boilerp. 187
An adaptive grid point RPEM algorithm for harmonic signal modelingp. 193
Identification of a class of Hammerstein nonlinear MIMO systemsp. 199
Identification of linear plants with large signal-to-noise ratiop. 205
Convergence analysis of the least-squares estimates for infinite AR modelsp. 211
Bayes parameter identification with reference to nonlinear optimal controlp. 217
Identification and predistortion for a class of nonlinear systemsp. 223
Whether the delta operator models are really better for small sampling periodsp. 229
System identification using dynamic neural networks : training and initialization aspectsp. 235
The generalized least-squares system identification subject to unknown bounded noisep. 241
Estimation of an N-L-N Hammerstein-Wiener modelp. 247
Modelling, simulation and fuzzy control of the GMAW welding processp. 253
Evolutionary design of dynamic neural networks applied to system identificationp. 259
System identification using fractional Hammerstein modelsp. 265
Non-linear models for a gypsum kiln : a comparative analysisp. 271
Adaptive fuzzy petri nets for supervisory hybrid systems modelingp. 277
Controller parameter adaptation algorithm using unfalsified control theory and gradient methodp. 283
Simultaneous linear quadratic pole placement (LQPP) control designp. 289
Frequency adaptive control of multivariable plantsp. 295
Using chaos to improve generalization in smart NN control designp. 301
Neural output regulation for a solar power plantp. 307
Position synchronization of multiple motion axes with adaptive coupling controlp. 313
Parameter identification for some linear systems with fractional Brownian motionp. 319
Nonlinear adaptive control using nonparametric Gaussian process prior modelsp. 325
Unit vector control of multivariable systemsp. 331
Active dual control for linear-quadratic Gaussian system with unknown parametersp. 337
Adaptive control of discrete time systems with concave/convex parametrizationsp. 343
Convex modifications to an iterative learning control lawp. 349
Iterative learning controller design for multivariable systemsp. 355
Randomized iterative feedback tuningp. 361
An iterative controller design scheme based on average robust controlp. 367
Stability, convergence, and feedback equivalence of LTI iterative learning controlp. 373
On methods for gradient estimation in IFT for MIMO systemsp. 379
Iterative learning control for non-uniform trajectory tracking problemsp. 385
Robust adaptive control of linearizable nonlinear single input systemsp. 391
Indirect adaptive robust control of SISO nonlinear systems in semi-strict feedback formsp. 397
Robust receding horizon control for nonlinear discrete-time systemsp. 403
Direct model reference adaptive control and saturation constraintsp. 409
An adaptive control scheme for output feedback nonlinear systems with actuator failuresp. 415
Adaptive control for uncertain systems with sector-like bounded nonlinear inputsp. 421
Polynomial design of controllers for two - variable systems - practical implementationp. 427
Autotuning PID control for long time-delay processesp. 433
Algorithm of parameters' identification of polyharmonic functionp. 439
Robust ILC design is straightforward for uncertain LTI systems satisfying the robust performance conditionp. 445
A nonlinear transformation approach to global adaptive output feedback control of 3rd-order uncertain nonlinear systemsp. 451
On friction compensation without friction modelp. 457
General adaptive controls for nonlinearly parameterized systems under generalized matching conditionp. 463
Model reference parametric adaptive iterative learning controlp. 469
Singularity-free stable adaptive control of a class of nonlinear discrete-time systemsp. 475
Smoothing stability roughness of fractal boundaries using reinforcement learningp. 481
Adaptive stabilization for non-controllable time-varying plants by using multiestimationp. 487
Adaptive vector quantization for reinforcement learningp. 493
Nonlinear adaptive H[subscript [actual symbol not reproducible]] control for robotic manipulatorsp. 499
Adaptive inverse-lattice learning controlp. 505
Author indexp. 511
Keyword indexp. 513
Table of Contents provided by Blackwell. All Rights Reserved.

ISBN: 9780080442266
ISBN-10: 0080442269
Series: IFAC Proceedings Volumes
Audience: Professional
Format: Paperback
Language: English
Number Of Pages: 566
Published: 3rd September 2003
Publisher: Elsevier Science & Technology
Country of Publication: GB
Dimensions (cm): 28.58 x 20.32  x 3.18
Weight (kg): 1.52