Hybrid learning/adaptive partial state feedback controller for RLED robot manipulators

CANBOLAT H. , Hu J., Dawson D.

Proceedings of the 1995 34th IEEE Conference on Decision and Control. Part 1 (of 4), New Orleans, LA, USA, 13 - 15 December 1995, vol.1, pp.39-44 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 1
  • City: New Orleans, LA, USA
  • Page Numbers: pp.39-44


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.