On the adaptive control of robot manipulators
International Journal of Robotics Research
Repetitive learning control: a Lyapunov-based approach
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Brief An adaptive PID learning control of robot manipulators
Automatica (Journal of IFAC)
Global finite-time inverse tracking control of robot manipulators
Robotics and Computer-Integrated Manufacturing
Finite-time tracking control for robot manipulators with actuator saturation
Robotics and Computer-Integrated Manufacturing
Repetitive control of servo systems with time delays
Robotics and Autonomous Systems
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This paper addresses the problem of designing a global adaptive learning control for robotic manipulators with revolute joints and uncertain dynamics. The reference signals to be tracked are assumed to be smooth and periodic with known period. By developing in Fourier series expansion the input reference signals of every joint, an adaptive learning PD control is designed which 'learns' the input reference signals by identifying their Fourier coefficients: global asymptotic and local exponential stability of the tracking error dynamics are obtained when the Fourier series expansion of each input reference signal is finite, while arbitrary small tracking errors are achieved otherwise. The resulting control is not model based and depends only on the period of the reference signals and on some constant bounds on the robot dynamics.