{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,23]],"date-time":"2026-04-23T07:53:52Z","timestamp":1776930832805,"version":"3.51.2"},"reference-count":30,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":5730,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1993,7]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>The Fourier series is employed to approximate the input\/output (I\/O) characteristics of a dynamic system and, based on the approximation, a new learning control algorithm is proposed in order to find iteratively the control input for tracking a desired trajectory. The use of the Fourier series approximation of I\/O renders at least a couple of useful consequences: the frequency characteristics of the system can be used in the controller design and the reconstruction of the system states is not required. The convergence condition of the proposed algorithm is provided and the existence and uniqueness of the desired control input is discussed. The effectiveness of the proposed algorithm is illustrated by computer simulation for a robot trajectory tracking. It is shown that, by adding a feedback term in learning control algorithm, robustness and convergence speed can be improved.<\/jats:p>","DOI":"10.1017\/s0263574700016544","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:15:38Z","timestamp":1236690938000},"page":"291-298","source":"Crossref","is-referenced-by-count":21,"title":["Iterative learning control with feedback using Fourier series with application to robot trajectory tracking"],"prefix":"10.1017","volume":"11","author":[{"given":"Jong-Woon","family":"Lee","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hak-Sung","family":"Lee","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zeungnam","family":"Bien","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700016544_ref008","volume-title":"Adaptive Control of Mechanical Manipulators","author":"Craig","year":"1988"},{"key":"S0263574700016544_ref027","doi-asserted-by":"publisher","DOI":"10.1109\/TASSP.1980.1163389"},{"key":"S0263574700016544_ref025","volume-title":"Introduction to Robotics: Mechanics and Control","author":"Craig","year":"1986"},{"key":"S0263574700016544_ref030","doi-asserted-by":"publisher","DOI":"10.1115\/1.2894133"},{"key":"S0263574700016544_ref010","doi-asserted-by":"publisher","DOI":"10.9746\/sicetr1965.22.43"},{"key":"S0263574700016544_ref002","first-page":"129","article-title":"On a Learning Control Law","volume":"31","author":"Sugie","year":"1987","journal-title":"System and Control"},{"key":"S0263574700016544_ref026","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700000552"},{"key":"S0263574700016544_ref007","doi-asserted-by":"publisher","DOI":"10.1080\/00207729108902362"},{"key":"S0263574700016544_ref014","doi-asserted-by":"publisher","DOI":"10.1002\/acs.4480040610"},{"key":"S0263574700016544_ref021","volume-title":"Matrices in Control Theory","author":"Barnett","year":"1971"},{"key":"S0263574700016544_ref017","first-page":"1516","volume-title":"IEEE Conf. on Robots and Automation","author":"Lunde","year":"1990"},{"key":"S0263574700016544_ref001","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620010203"},{"key":"S0263574700016544_ref009","first-page":"1399","volume-title":"Proc. 24th IEEE Conf. on Decision and Control","author":"Togai","year":"1985"},{"key":"S0263574700016544_ref006","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700000564"},{"key":"S0263574700016544_ref005","doi-asserted-by":"publisher","DOI":"10.1049\/ip-d.1991.0018"},{"key":"S0263574700016544_ref004","doi-asserted-by":"publisher","DOI":"10.1109\/56.20435"},{"key":"S0263574700016544_ref016","doi-asserted-by":"publisher","DOI":"10.1109\/56.767"},{"key":"S0263574700016544_ref028","doi-asserted-by":"publisher","DOI":"10.1109\/TASSP.1986.1164989"},{"key":"S0263574700016544_ref020","doi-asserted-by":"publisher","DOI":"10.1080\/00207178908953405"},{"key":"S0263574700016544_ref011","doi-asserted-by":"publisher","DOI":"10.1049\/ip-d.1991.0073"},{"key":"S0263574700016544_ref023","volume-title":"Linear System Theory and Design","author":"Chen","year":"1984"},{"key":"S0263574700016544_ref003","doi-asserted-by":"publisher","DOI":"10.1049\/ip-d.1989.0016"},{"key":"S0263574700016544_ref012","doi-asserted-by":"publisher","DOI":"10.1109\/9.109644"},{"key":"S0263574700016544_ref013","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.1987.272514"},{"key":"S0263574700016544_ref029","article-title":"Recursive Algorithm for Computing the Frequency Response of a Class of Nonlinear Difference Equation Model","volume":"50","author":"Peyton Jones","year":"1925","journal-title":"Int. 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