Practical adaptive iterative learning control framework based on robust adaptive approach

2010 ◽  
Vol 13 (1) ◽  
pp. 85-93 ◽  
Author(s):  
Weisheng Chen ◽  
Junmin Li ◽  
Jing Li
Keyword(s):  
Iterative Learning Control ◽  
Learning Control ◽  
Iterative Learning ◽  
Adaptive Iterative Learning Control ◽  
Adaptive Approach ◽  
Control Framework ◽  
Robust Adaptive

scholarly journals Alignment Condition-Based Robust Adaptive Iterative Learning Control of Uncertain Robot System

2014 ◽  
Vol 6 ◽  
pp. 201317 ◽  
Author(s):  
Guofeng Tong ◽  
Mingxiu Lin
Keyword(s):  
Iterative Learning Control ◽  
Direct Method ◽  
Learning Control ◽  
Iterative Learning ◽  
Robust Adaptive Control ◽  
Robot System ◽  
Adaptive Iterative Learning Control ◽  
Alignment Condition ◽  
Robust Adaptive ◽  
Uncertain Robot

This paper proposes an adaptive iterative learning control strategy integrated with saturation-based robust control for uncertain robot system in presence of modelling uncertainties, unknown parameter, and external disturbance under alignment condition. An important merit is that it achieves adaptive switching of gain matrix both in conventional PD-type feedforward control and robust adaptive control in the iteration domain simultaneously. The analysis of convergence of proposed control law is based on Lyapunov's direct method under alignment initial condition. Simulation results demonstrate the faster learning rate and better robust performance with proposed algorithm by comparing with other existing robust controllers. The actual experiment on three-DOF robot manipulator shows its better practical effectiveness.

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