%0 Journal Article
	%A Sandra Baßler and  Peter Dünow and  Mathias Marquardt
	%D 2016
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 116, 2016
	%T Application of Fourier Series Based Learning Control on Mechatronic Systems
	%U https://publications.waset.org/pdf/10005018
	%V 116
	%X A Fourier series based learning control (FSBLC)
algorithm for tracking trajectories of mechanical systems with
unknown nonlinearities is presented. Two processes are introduced to
which the FSBLC with PD controller is applied. One is a simplified
service robot capable of climbing stairs due to special wheels and
the other is a propeller driven pendulum with nearly the same
requirements on control. Additionally to the investigation of learning
the feed forward for the desired trajectories some considerations on
the implementation of such an algorithm on low cost microcontroller
hardware are made. Simulations of the service robot as well as
practical experiments on the pendulum show the capability of the used
FSBLC algorithm to perform the task of improving control behavior
for repetitive task of such mechanical systems.
	%P 1395 - 1401