{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,19]],"date-time":"2025-01-19T05:18:09Z","timestamp":1737263889773,"version":"3.33.0"},"reference-count":12,"publisher":"Wiley","issue":"2","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":4819,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1994,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Learning control is one of the most interesting subjects in robotics field, and several works on this topic were extensively investigated. Learning control is necessary for high\u2010speed and high\u2010precision trajectory control in cases where an objective system includes uncertain parameters and\/or has practical limitations on the feedback control. Conventional learning control methods, however, have a problem concerning how to determine a learning operator that guarantees the convergence of the scheme without a priori knowledge of an objective system. For instance, designing learning controllers that will work for complex robot systems, such as pneumatic robots with complicated dynamics or robots with complex sensory feedback, is extremely difficult.<\/jats:p><jats:p>This article provides a new type of learning control scheme for a class of discrete\u2010time nonlinear systems. The algorithm of proposed learning control utilizes local linearization techniques by using<jats:italic>Discrete Fourier Transform<\/jats:italic>(DFT) to design the learning operator and the numerical function iterative techniques. In our case, the<jats:italic>secant method<\/jats:italic>is used, which can find the best<jats:italic>learning operator<\/jats:italic>by itself at each learning step, in other words, at each calculation step of iteration. This proposed learning algorithm has been extensively tested by simulation on the computer. \u00a9 1994 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620110206","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T14:23:06Z","timestamp":1183731786000},"page":"129-141","source":"Crossref","is-referenced-by-count":6,"title":["Learning control based on local linearization by using DFT"],"prefix":"10.1002","volume":"11","author":[{"given":"Tetsuya","family":"Manabe","sequence":"first","affiliation":[]},{"given":"Fumio","family":"Miyazaki","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.9746\/sicetr1965.14.706"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620010203"},{"key":"e_1_2_1_4_2","doi-asserted-by":"crossref","unstructured":"S.Arimoto S.Kawamura andF.Miyazaki \u201cBettering operation of dynamic systems by learning: A new control theory for servomechanism and mechantronics systems \u201d Proc. of 23rd IEEE Conference on Decision and Control Las Vegas Nevada 1984 pp.1064\u20131069.","DOI":"10.1109\/CDC.1984.272176"},{"key":"e_1_2_1_5_2","unstructured":"S.Arimoto S.Kawamura andF.Miyazaki \u201cCan mechanical robots learn by themselves? \u201d in Robotics Research: The Second International Symposium H. Hanafusa and H. Inoue Eds. MIT Press Cambridge MA 1985 pp.127\u2013134."},{"key":"e_1_2_1_6_2","doi-asserted-by":"crossref","unstructured":"S.Kawamura F.Miyazaki andS.Arimoto \u201cApplications of learning method for dynamic control of robot manipulators \u201d Proc. of 24th IEEE Conference on Decision and Control Ft. Lauderdale FL 1985 pp.1381\u20131386.","DOI":"10.1109\/CDC.1985.268738"},{"volume-title":"Nonlinear System Analysis","year":"1978","author":"Vidyasagar M.","key":"e_1_2_1_7_2"},{"key":"e_1_2_1_8_2","doi-asserted-by":"crossref","unstructured":"M.TogaiandO.Yamano \u201cAnalysis and Design of an optimal learning control scheme for industrial robots: A discrete system approach \u201d Proc. of 24th IEEE Conference on Decision and Control Ft. Lauderdale FL 1985 pp.1399\u20131404.","DOI":"10.1109\/CDC.1985.268741"},{"key":"e_1_2_1_9_2","doi-asserted-by":"crossref","unstructured":"T.MitaandE.Kato \u201cIterative control and its application to motion control of robot arm\u2014A direct approach to servo\u2010Problems \u201d Proc. of 24th IEEE Conference on Decision and Control Ft. Lauderdale FL 1985 pp.1393\u20131398.","DOI":"10.1109\/CDC.1985.268740"},{"key":"e_1_2_1_10_2","unstructured":"O.Sonoyama T.Manabe andF.Miyazaki \u201cMotion control of pneumatic rubber artificial muscles \u201d Proc. of 28th Conference of SICE Matsuyama 1989 pp.1069\u20131072."},{"key":"e_1_2_1_11_2","unstructured":"K.FurutaandM.Yamakita \u201cThe design of a learning control system for multivariable systems \u201d Proc. of IEEE International Symposium on Intelligent Control Philadelphia PA 1987 pp.371\u2013376."},{"key":"e_1_2_1_12_2","unstructured":"G.Heinzinger D.Fenwick B.Paden andF.Miyazaki \u201cRobust learning control \u201d Proc. of 28th IEEE Conference on Decision and Control Tampa FL 1989."},{"key":"e_1_2_1_13_2","doi-asserted-by":"crossref","unstructured":"S.Arimoto \u201cRobustness of learning control for robot manipulators \u201d Proc. of 1990 IEEE International Conference on Robotics and Automation Cincinnati OH 1990 pp.1528\u20131533.","DOI":"10.1109\/ROBOT.1990.126224"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620110206","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620110206","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T07:45:20Z","timestamp":1737186320000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620110206"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1994,1]]},"references-count":12,"journal-issue":{"issue":"2","published-print":{"date-parts":[[1994,1]]}},"alternative-id":["10.1002\/rob.4620110206"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620110206","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"type":"print","value":"0741-2223"},{"type":"electronic","value":"1097-4563"}],"subject":[],"published":{"date-parts":[[1994,1]]}}}