scholarly journals Adaptive Iterative Learning Control for Robot Manipulators with Time-varying Parameters and Arbitrary Initial Errors

IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Qiuzhen Yan ◽  
Jianping Cai ◽  
Yuntao Zhang ◽  
Zhi Yang
Keyword(s):  
Iterative Learning Control ◽  
Robot Manipulators ◽  
Learning Control ◽  
Iterative Learning ◽  
Time Varying ◽  
Adaptive Iterative Learning Control ◽  
Varying Parameters ◽  
Initial Errors ◽  
Time Varying Parameters

Adaptive Iterative Learning Control for Robot Manipulators with Initial Resetting Errors

2011 ◽  
Vol 130-134 ◽  
pp. 265-269 ◽  
Author(s):  
Jian Ming Wei ◽  
Yun An Hu
Keyword(s):  
Iterative Learning Control ◽  
Robot Manipulators ◽  
Error Function ◽  
Tracking Error ◽  
Learning Control ◽  
Iterative Learning ◽  
Unknown Parameters ◽  
Adaptive Iterative Learning Control ◽  
Suitable Parameter ◽  
Parameter Values

In this paper, an adaptive iterative learning control is presented for robot manipulators with unknown parameters, performing repetitive tasks. In order to overcome the initial resetting errors, an auxiliary tracking error function is introduced. The adaptive algorithm is derived along the iteration axis to search for suitable parameter values. The technical analysis shows convergence of the tracking errors. Finally, simulation results are provided to illustrate the effectiveness of the proposed controller.

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