Synchronization Control of Multi-finger Dexterous Hand Based on Iterative Learning Control Scheme

被引：0
|
作者：
Chen, Lei [1 ]
Ge, Ming-Feng [1 ]
He, Ding-Xin [1 ]
Guan, Zhi-Hong [1 ]
Wang, Yan-Wu [1 ]
机构：
[1] Huazhong Univ Sci & Technol, Coll Automat, Wuhan 430074, Peoples R China
来源：
26TH CHINESE CONTROL AND DECISION CONFERENCE (2014 CCDC) | 2014年
关键词：
Multi-finger; Synchronization; Iterative Learning Control; Stability; Lyapunov-like Function; POSITION SYNCHRONIZATION; ROBOT MANIPULATORS; ADAPTIVE-CONTROL; SLIDING MODE; DESIGN;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, aiming at solving the synchronous problem of multi-finger dexterous hand, we introduced the iterative learning control (ILC) algorithm into the control of the system's synchronous coupling error to ensure the synchronization between finger joints on the premise that the system have good performance. In addition, we introduce a Lyapunov-like composite energy function to analyse the stability of the system with the ILC controller. Finally a simulation is conducted to show the performance and verify that the system could achieve stability.
引用
收藏
页码：1162 / 1166
页数：5
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