Adaptive iterative learning control for SCARA robot manipulators

作者：Rui Tang; Li Hou^*; Qi Zhang

来源：International Journal of Advancements in Computing Technology, 2012, 4(21): 50-58.

DOI：10.4156/ijact.vol4.issue21.7

• Adaptive iterative learning control
• Control schemes
• Control strategies
• Maximum absolute error
• Output-tracking
• P-D feedback
• Performance characteristics
• Plant output
• Robotic systems
• SCARA
• SCARA robot
• Selective compliance assembly robot arms
• Simulation
• Trajectory tracking problems
• Two-link
• Uncertain dynamics

In this paper, based on Lyapunov method, an adaptive iterative learning control scheme is presented for the trajectory tracking problem of Selective Compliance Assembly Robot Arm (SCARA) robotic system. The control strategy consists of a classical PD feedback structure plus an additional term iteratively updated and designed to cope with the unknown parameters and disturbances. From the simulation results, using the proposed control scheme, strong robustness with respect to uncertain dynamics and nonlinearities can be obtained, the output tracking error between the plant output and the desired reference output can asymptotically converge to zero as well. This controller has exhibited superior performance characteristics since the maximum absolute error is considerably reduced.

• 出版日期2012
• 单位四川大学