Dataset for Dual-Channel ILC of Nonlinear Flexible Joints

Description

This dataset supports the research on dual-channel iterative learning control for nonlinear flexible joints. All experimental data are stored in JSON (.json) format, organized into the following two categories: 1. Identification data: Raw input-output sequences collected from the flexible joint system, used for parameter identification and dynamics modeling. 2. Control data: Tracking error trajectories, control input signals, and iteration-domain convergence results from the dual-channel ILC experiments. File structure and data parsing: The dataset is divided into two main folders: "/identification" and "/control". Each JSON file uses a key-value hierarchy, where the keys represent signal names (e.g., "input", "output", "time_vector", "tracking_error", "control_signal") and the corresponding values are numeric arrays. These files can be easily parsed using standard Python (json module), MATLAB (jsondecode function), or any JSON-compatible reader. For questions regarding this dataset, please contact the corresponding author.

Institutions

• Xidian University

  Shaanxi, Xi'an

Categories

Licence