A hybrid learning/adaptive partial state feedback controller for RLED robot manipulators
International Journal of Systems Science, cilt.27, sa.11, ss.1123-1132, 1996 (SCI-Expanded, Scopus)
- Yayın Türü: Makale / Tam Makale
- Cilt numarası: 27 Sayı: 11
- Basım Tarihi: 1996
- Doi Numarası: 10.1080/00207729608929319
- Dergi Adı: International Journal of Systems Science
- Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
- Sayfa Sayıları: ss.1123-1132
- 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 (e.g. measurements of link velocity are not required). © 1996 Taylor and Francis Group, LLC.