Geun Il Song — accepted AI-conference papers

2026

A New Repetitive Control Framework for Robot Manipulators: Optimal Controller Design and Stability Analysis

Geun Il Song, Dohyeok Kwak, Taewan Kim, Oe Ryung Kang, Jung Hoon Kim, Wookyong Kwon

ICRA 2026poster

This paper provides a new repetitive control framework for robot manipulators with periodic reference and disturbance signals. We first take the inverse dynamics (ID) approach to a robot manipulator to transform its nonlinear input/output behavior into an equivalent linear time-invariant (LTI) syste…

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2025

A New Framework for Repetitive Control of Robot Manipulators via Operator-Theoretic Robust Stabilization

Geun Il Song, Jung Hoon Kim

ICRA 2025

This paper establishes a new framework for repetitive control of uncertain robot manipulators via operator-theoretic robust stabilization. After applying the inverse dynamics approach to robot manipulators, by which the relevant nonlinear input/output behavior is converted to a linear time-invariant

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