Robust Learning Control for Manipulators with Uncertainty Disturbances Based on Internal Model


Autoria(s): Xu JX(徐进学); Tan DL(谈大龙); Chai TY(柴天佑)
Data(s)

1999

Resumo

<p> In this paper, a disturbance controller is designed for making robotic system behave as a decoupled linear system according to the concept of internal model. Based on the linear system, the paper presents an iterative learning control algorithm to robotic manipulators. A sufficient condition for convergence is provided. The selection of parameter values of the algorithm is simple and easy to meet the convergence condition. The simulation results demonstrate the effectiveness of the algorithm..</p>

Identificador

http://ir.sia.ac.cn//handle/173321/1247

http://www.irgrid.ac.cn/handle/1471x/172336

Palavras-Chave #robot #motion control #iterative learning #internal model control
Tipo

期刊论文