Adaptive robust iterative learning control for uncertain robotic systems
Abstract：The uncertain model of the robotic system was decomposed into repetitive and non-repetitive parts, and thenormal model of the system was taken into account. By using Lyapunov method, an adaptive robust iterative learning controlscheme was presented for the robotic system with both structured and unstructured uncertainties, and the overall stability of thesystem in the iteration domain was established. In the scheme the bound paraneter estimates and the iterative learning control in-put were adjusted in the iteration domain. The validity of the scheme is illustrated through a simulation example.
Keywords：iterative learning controlrobust controladaptive controlrobot systems
Publication Date：2003-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 707-712 )