Adaptive Iterative Learning Control for Robot Manipulators with Initial Resetting Errors
In this paper, an adaptive iterative learning control is presented for robot manipulators with unknown parameters, performing repetitive tasks. In order to overcome the initial resetting errors, an auxiliary tracking error function is introduced. The adaptive algorithm is derived along the iteration axis to search for suitable parameter values. The technical analysis shows convergence of the tracking errors. Finally, simulation results are provided to illustrate the effectiveness of the proposed controller.
J. M. Wei and Y. A. Hu, "Adaptive Iterative Learning Control for Robot Manipulators with Initial Resetting Errors", Applied Mechanics and Materials, Vols. 130-134, pp. 265-269, 2012