Decentralized Robust Adaptive Iterative Learning Control of Robot Manipulators

2018 ◽  
Author(s):  
Lili Sun ◽  
Wenyong Duan
Keyword(s):  
Iterative Learning Control ◽  
Robot Manipulators ◽  
Learning Control ◽  
Iterative Learning ◽  
Adaptive Iterative Learning Control ◽  
Robust Adaptive

scholarly journals Alignment Condition-Based Robust Adaptive Iterative Learning Control of Uncertain Robot System

2014 ◽  
Vol 6 ◽  
pp. 201317 ◽  
Author(s):  
Guofeng Tong ◽  
Mingxiu Lin
Keyword(s):  
Iterative Learning Control ◽  
Direct Method ◽  
Learning Control ◽  
Iterative Learning ◽  
Robust Adaptive Control ◽  
Robot System ◽  
Adaptive Iterative Learning Control ◽  
Alignment Condition ◽  
Robust Adaptive ◽  
Uncertain Robot

This paper proposes an adaptive iterative learning control strategy integrated with saturation-based robust control for uncertain robot system in presence of modelling uncertainties, unknown parameter, and external disturbance under alignment condition. An important merit is that it achieves adaptive switching of gain matrix both in conventional PD-type feedforward control and robust adaptive control in the iteration domain simultaneously. The analysis of convergence of proposed control law is based on Lyapunov's direct method under alignment initial condition. Simulation results demonstrate the faster learning rate and better robust performance with proposed algorithm by comparing with other existing robust controllers. The actual experiment on three-DOF robot manipulator shows its better practical effectiveness.

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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