A hybrid learning/adaptive partial state feedback controller for RLED robot manipulators


CANBOLAT H. , Hu J., Dawson D.

International Journal of Systems Science, vol.27, no.11, pp.1123-1132, 1996 (Journal Indexed in SCI Expanded) identifier

  • Publication Type: Article / Article
  • Volume: 27 Issue: 11
  • Publication Date: 1996
  • Doi Number: 10.1080/00207729608929319
  • Title of Journal : International Journal of Systems Science
  • Page Numbers: pp.1123-1132

Abstract

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 (e.g. measurements of link velocity are not required). © 1996 Taylor and Francis Group, LLC.