Adaptive motion control of rigid robots: a tutorial
Automatica (Journal of IFAC) - Identification and systems parameter estimation
Nonlinear systems analysis (2nd ed.)
Nonlinear systems analysis (2nd ed.)
Iterative learning control in feedback systems
Automatica (Journal of IFAC)
Robot Dynamics and Control
Robot Analysis and Control
Linear and Nonlinear Iterative Learning Control (Lecture Notes in Control and Information Sciences, 291)
Automatica (Journal of IFAC)
IEEE Transactions on Robotics
IEEE Transactions on Fuzzy Systems
Brief Iterative learning control with initial rectifying action
Automatica (Journal of IFAC)
Adaptive iterative learning control for robot manipulators
Automatica (Journal of IFAC)
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This paper deals with iterative learning control (ILC) design to solve the trajectory tracking problem for rigid robot manipulators subject to external disturbances, and performing repetitive tasks. A D-type ILC is presented with an initial condition algorithm, which gives the initial state value in each iteration automatically. Thus, the resetting condition (the initial state error is equal to zero) is not required. The λ-norm is adopted as the topological measure in our proof of the asymptotic stability of this control scheme, over the whole finite time-interval, when the iteration number tends to infinity. Simulation results are presented to illustrate the effectiveness of the proposed control scheme.