Adaptive robust iterative learning control for uncertain robotic systems

被引：0
|
作者：
Yang, SY [1 ]
Fan, XP [1 ]
Luo, A [1 ]
机构：
[1] Cent S Univ, Res Ctr Automat Engn, Changsha 410075, Peoples R China
来源：
PROCEEDINGS OF THE 4TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-4 | 2002年
关键词：
iterative learning; robust control; adaptive control; robot systems;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the uncertain model of the robotic system is decomposed into repetitive and non-repetitive parts, and the norm model of the system is took into account. By using Lyapunov method, an adaptive robust iterative learning control scheme is presented for the robotic system with both structured and unstructured uncertainty, and the overall stability of the system in the iteration domain is established. In the scheme the bound parameters estimated as well as the iterative learning control input were adjusted in the iteration domain. The validity of the scheme is illustrate through a simulation example.
引用
收藏
页码：964 / 968
页数：5
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