Hybrid learning/adaptive partial state feedback controller for RLED robot manipulators
Proceedings of the 1995 34th IEEE Conference on Decision and Control. Part 1 (of 4), New Orleans, LA, USA, 13 - 15 Aralık 1995, cilt.1, ss.39-44, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Cilt numarası: 1
- Basıldığı Şehir: New Orleans, LA, USA
- Sayfa Sayıları: ss.39-44
- Ankara Yıldırım Beyazıt Üniversitesi Adresli: Hayır
Özet
In this paper, we present an adaptive partial state-feedback repetitive learning control algorithm for a rigid-link electrically-driven (RLED) robot manipulator actuated by brushed DC (BDC) motors. The proposed controller is designed to compensate for repeatable mechanical uncertainty via a learning control term while an adaptive control loop is used to compensate for parametric uncertainty in the electrical dynamics. The proposed controller guarantees semi-global asymptotic link position tracking while only requiring measurements of link position and electrical winding current.