A Simple Repetitive Learning Control for Asymptotic Tracking of Robot Manipulators with Actuator Saturation

2011 ◽  
Vol 44 (1) ◽  
pp. 6886-6891 ◽  
Author(s):  
Yuxin Su ◽  
Chunhong Zheng
Keyword(s):  
Actuator Saturation ◽  
Robot Manipulators ◽  
Learning Control ◽  
Asymptotic Tracking ◽  
Repetitive Learning

A Repetitive Learning Method Based on Sliding Mode for Robot Control With Actuator Saturation

2015 ◽  
Vol 137 (6) ◽  
Author(s):  
Huihui Tian ◽  
Yuxin Su
Keyword(s):  
Control Method ◽  
Actuator Saturation ◽  
Sliding Mode ◽  
Direct Method ◽  
Actuator Failure ◽  
Asymptotic Tracking ◽  
Repetitive Learning ◽  
Precision Tracking ◽  
Improved Performance ◽  
Three Degree Of Freedom

This paper proposes a sliding mode based repetitive learning control method for high-precision tracking of robot manipulators with actuator saturation. Advantages of the proposed control include the absence of model parameter in the control law formulation and the ability to remove the possibility of actuator failure due to excessive torque input levels. Lyapunov's direct method is employed to prove semiglobal asymptotic tracking. Simulation results on a three degree-of-freedom (3DOF) robot illustrate the effectiveness and improved performance of the proposed scheme.

scholarly journals A Nested-Loop Iterative Learning Control for Robot Manipulators

2019 ◽  
Vol 52 (15) ◽  
pp. 358-363
Author(s):  
Yu-Hsiu Lee ◽  
Sheng-Chieh Hsu ◽  
Yan-Yi Du ◽  
Jwu-Sheng Hu ◽  
Tsu-Chin Tsao
Keyword(s):  
Iterative Learning Control ◽  
Robot Manipulators ◽  
Learning Control ◽  
Iterative Learning ◽  
Nested Loop
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