Alignment Condition-Based Adaptive Iterative Learning Control for Robot Manipulators

摘要：

　　In this work,a novel adaptive iterative learning control scheme is designed for robot manipulators with uncertain parameter and external perturbation under alignment condition.The analysis of convergence of proposed control law is based on composite energy function in the iteration domain containing position tracking error,velocity tracking error and parameter estimation error along both the time and iteration axis.Rigorous analysis indicate that both position tracking error and velocity tracking error converge to zero under alignment condition by compensation for the uncertain disturbances.Simulation results also confirm and verify the effectiveness of the proposed method.

关键词： Adaptive iterative learning control Robot manipulators Alignment condition Composite energy function

作者: Qiang Chen Fangzheng Xue

作者单位: School of Automation,Chongqing University,Chongqing,400044,China

会议类型: 国际会议

会议名称: 第26届中国控制与决策会议(2014 CCDC)

会议地点: 长沙

会议语种:英文

页码: 2129-2134

在线出版日期: 2014-05-31（万方平台首次上网日期，不代表论文的发表时间）