Adaptive iterative learning control for robot manipulators

Automatica

Volumn 40, Issue 7, 2004, Pages 1195-1203

  Tayebi, Abdelhamid ^a  

^a LAKEHEAD UNIVERSITY   (Canada)

Author keywords

Adaptive control; Iterative learning control; Robot manipulators

Indexed keywords

ASYMPTOTIC STABILITY; COMPUTER SIMULATION; FEEDBACK CONTROL; ITERATIVE METHODS; LEARNING SYSTEMS; MANIPULATORS; ROBOTS;

ITERATIVE LEARNING CONTROL; ITERATIVE VARIABLES; ROBOT MANIPULATORS;

ADAPTIVE CONTROL SYSTEMS;

EID: 2442497060     PISSN: 00051098     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.automatica.2004.01.026     Document Type: Article

References (24)

1. Arimoto S. Control theory of non-linear mechanical systems. 1996;Oxford Science Publications, Oxford, UK.
2. Arimoto S., Kawamura S., Miyazaki F. Bettering operation of robots by learning. Journal of Robotic Systems. 1:1984;123-140.
3. Bondi P., Casalino G., Gambardella L. On the iterative learning control theory for robotic manipulators. IEEE Journal of Robotics and Automation. 4(1):1988;14-22.
4. Cao W.-J., Xu J.-X. On functional approximation of the equivalent control using learning variable structure control. IEEE Transactions on Automatic Control. 47(5):2002;824-830.
5. Casalino, G., & Bartolini, G. (1984). A learning procedure for the control of movements of robotic manipulators. IASTED symposium on robotics and automation, Amsterdam (pp. 108-111).
6. Choi J.Y., Lee J.S. Adaptive iterative learning control for uncertain robotic systems. IEE-Proceedings Control Theory and Applications. 147(2):2000;217-223.
7. Craig, J. J. (1984). Adaptive control of manipulators through repeated trials. Proceedings of the American control conference, San Diego (pp. 1566-1574).
8. De Luca A., Paesano G., Ulivi G. A frequency domain approach to learning control. Implementation for a robot manipulator IEEE Transactions On Industrial Electronics. 39(1):1992;1-10.
9. French M., Rogers E. Nonlinear iterative learning by an adaptive Lyapunov technique. International Journal of Control. 73(10):2000;840-850.
10. Ham C., Qu Z., Johnson R. A nonlinear iterative learning control for robot manipulators in the presence of actuator dynamics. International Journal of Robotics and Automation. 15(3):2000;119-130.
11. Ham, C., Qu, Z. H., & Kaloust, J. H. (1995). Nonlinear learning control for a class of nonlinear systems based on Lyapunov's direct method. Proceedings of the American control conference, Seattle, USA (pp. 3024-3028).
12. Horowitz R. Learning control of robot manipulators. ASME Journal of Dynamic Systems Measurements and Control. 115:1993;402-411.
13. Kavli T. Frequency domain synthesis of trajectory learning controller for robot manipulators. Journal of Robotic Systems. 9(5):1992;663-680.
14. Kawamura S., Miyazaki F., Arimoto S. Realization of robot motion based on a learning method. IEEE Transactions on Systems, man and cybernetics. 18(1):1988;126-134.
15. Kuc T.Y., Nam K., Lee J.S. An iterative learning control of robot manipulators. IEEE Transactions on Robotics and Automation. 7(6):1991;835-841.
16. Moon, J. H., Doh, T. Y., & Chung, M. J. (1997). An iterative learning control scheme for manipulators. In Proceedings of international conference on intelligent robots and systems, Grenoble, France.
17. Slotine J.J., Li W. On the adaptive control of robot manipulators. International Journal of Robotics Research. 6:1987;49-59.
18. Slotine J.J., Li W. Applied nonlinear control. 1991;Prentice-Hall, Englewood Cliffs, NJ.
19. Spong M.W., Vidyasagar M. Robot dynamics and control. 1989;Wiley, New York.
20. Takegaki M., Arimoto S. A new feedback method for dynamic control of manipulators. Journal of Dynamic Systems, Measurement and Control. 103:1981;119-125.
21. Tomei P. Adaptive PD controller for robot manipulators. IEEE Transactions on Robotics and Automation. 7:1991;565-570.
22. Xu J.-X. The frontiers of iterative learning control - Part II. Journal of Systems, Control and Information. 46(5):2002;233-243.
23. Xu J.-X., Badrinath V., Qu Z. Robust learning control for robotic manipulators with an extension to a class of nonlinear systems. International Journal of Control. 73(10):2000;858-870.
24. Xu J.-X., Tan Y. A suboptimal learning control scheme for nonlinear systems with time-varying parametric uncertainties. Journal of Optimal Control-Applications and Theory. 22:2001;111-126