Backstepping Adaptive Iterative Learning Control for Robotic Systems
2013 ◽
Vol 284-287
◽
pp. 1759-1763
Keyword(s):
A backstepping adaptive iterative learning control for robotic systems with repetitive tasks is proposed in this paper. The backstepping-like procedure is introduced to design the AILC. A fuzzy neural network is applied for compensation of the unknown certainty equivalent controller. Using a Lyapunov like analysis, we show that the adjustable parameters and internal signals remain bounded, the tracking error will asymptotically converge to zero as iteration goes to infinity.
2004 ◽
Vol 34
(3)
◽
pp. 1348-1359
◽
2013 ◽
Vol 37
(3)
◽
pp. 591-601
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2013 ◽
Vol 479-480
◽
pp. 737-741
2020 ◽
pp. 095965182093853
2012 ◽
Vol 23
(7-8)
◽
pp. 1885-1890
◽