Repetitive learning control of a flexible whisker in tip contact with an unknown surface

Research output: Contribution to journalArticlepeer-review

18 Scopus citations


Repetitive contact imaging uses a flexible whisker attached to a two-axis robot through a load cell. Assuming small deformations and rotations, the pitch axis decouples from the yaw. The yaw axis, under proportional-integral- derivative control, sweeps periodically back and forth across the object while the pitch axis, under repetitive learning (RL) control, maintains a uniform contact force. Once the RL controller converges, the three-dimensional contact points can be determined using an elastica algorithm. The RL controller is proven stable based on a distributed parameter beam model and is experimentally shown to provide a stable performance with improved moment regulation when compared with under proportional-derivative control.

Original languageEnglish (US)
Pages (from-to)197-203
Number of pages7
JournalJVC/Journal of Vibration and Control
Issue number2
StatePublished - Feb 1 2011

All Science Journal Classification (ASJC) codes

  • General Materials Science
  • Automotive Engineering
  • Aerospace Engineering
  • Mechanics of Materials
  • Mechanical Engineering


Dive into the research topics of 'Repetitive learning control of a flexible whisker in tip contact with an unknown surface'. Together they form a unique fingerprint.

Cite this