Learning control and repetitive control of flexible planar variable input speed linkages mechanisms

This study is a theoretical investigation of applying learning control and repetitive control in variable input speed planar linkages mechanisms that perform different tasks. Simulations of a flexible slider-crank mechanism and a flexible six-bar Stephenson mechanism are provided with taking into account the elasticity of links. Seven different cases were studied, where the elasticity of the system is presented as a vibrated mass attached to the mechanism by a spring and a dashpot, or as bendable links that vibrate laterally during motion.; Learning control method and its extension, repetitive control, were applied to the system for modifying the input by tracking the output error to achieve some desired output. Another task was to minimize a cost function that depends on the system's output according to a specific criterion. Minimizing the output error and the cost function was carried out by learning the effect of the system's input on the system's output resulting from repeated motion of the mechanism.; Three cases were studied using two degrees of freedom system, a slider-crank mechanism with a flexibly attached mass to the slider that goes in a repeated rectilinear motion. The three cases were: path generation with timing, constant output velocity, and minimizing output acceleration.; Two more cases were studied using one degree of freedom slider-crank mechanism. This model carried variable load depending on the displacement and velocity of the slider. The mechanism's task was to run in a manner that minimizes a specific cost function depending on the output motion. The two cases, which were examined, are as follows: minimizing the dissipated energy in the system, and minimizing input torque to the mechanism.; The last two cases were dedicated to the study and comprising of the performance of two kinds of flexible mechanisms that were used in scanning machines to generate constant output velocity; a six-bar Stephenson mechanism and a slider-crank mechanism.; A comparison study between the learning control and the repetitive control will be discussed at the end of this dissertation.