Adaptive learning tracking control of robotic manipulators with uncertainties

被引：4

作者：

Yan R. ^{[1
]}

Tee K.P. ^{[1
]}

Li H. ^{[1
]}

机构：

[1] Institute for Infocomm Research, Connexis 138632, 1 Fusionopolis Way

来源：

Journal of Control Theory and Applications | 2010年 / 8卷 / 02期

关键词：

Adaptive control; Learning control; Robotic dynamic systems; Uncertainties;

D O I：

10.1007/s11768-010-0010-2

中图分类号：

学科分类号：

摘要：

An adaptive learning tracking control scheme is developed for robotic manipulators by a synthesis of adaptive control and learning control approaches. The proposed controller possesses both adaptive and learning properties and thereby is able to handle robotic systems with both time-varying periodic uncertainties and time invariant parameters. Theoretical proofs are established to show that proposed controllers ensure asymptotical tracking performance. The effectiveness of the proposed approaches is validated through extensive numerical simulation results. © 2010 South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg.

引用

页码：160 / 165

页数：5

共 16 条

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