Velocity observer-based iterative learning control for robot manipulators

DOI10.1080/00207721.2011.600467zbMath1307.93270OpenAlexW1995162721WikidataQ56426037 ScholiaQ56426037MaRDI QIDQ5172431

Farès Boudjema, Farah Bouakrif, Djamel Boukhetala

Publication date: 4 February 2015

Published in: International Journal of Systems Science (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207721.2011.600467

zbMATH Keywords

iterative learning controlrobot manipulatorLyapunov theoryvelocity observer

Mathematics Subject Classification ID

Learning and adaptive systems in artificial intelligence (68T05) Automated systems (robots, etc.) in control theory (93C85) Observability (93B07) Artificial intelligence for robotics (68T40)

Related Items (9)

An LMI approach to robust iterative learning control with initial state learning ⋮ Research on open-closed-loop iterative learning control with variable forgetting factor of mobile robots ⋮ Unnamed Item ⋮ Iterative Learning Control for Affine and Non-affine Nonlinear Systems ⋮ Event-triggered state tracking for two-dimensional neural networks with impulsive learning control schemes ⋮ Observer based switching ILC for consensus of nonlinear nonaffine multi-agent systems ⋮ Iterative learning control of multivariable uncertain nonlinear systems with nonrepetitive trajectory ⋮ PID position domain control for contour tracking ⋮ Trajectory tracking control using velocity observer and disturbances observer for uncertain robot manipulators without tachometers

Cites Work

• Adaptive motion control of rigid robots: A tutorial
• A discontinuous output feedback controller and velocity observer for nonlinear mechanical systems
• Adaptive iterative learning control for robot manipulators
• Perfect tracking for maximum-phase nonlinear systems by iterative learning control
• Use of neural networks in iterative learning control systems
• A study on the robustness of a PID-type iterative learning controller against initial state error
• Technical note Iterative learning control for constrained nonlinear systems
• Initial condition issues on iterative learning control for non-linear systems with time delay
• An average operator-based PD-type iterative learning control for variable initial state error
• Nonlinear learning control for a class of nonlinear systems
• Semi-global observer for multi-output nonlinear systems

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