A contour following strategy for 2-link manipulator using coordinate transformation approach
RA '07 Proceedings of the 13th IASTED International Conference on Robotics and Applications
An exponential family of hyperbolic-type controllers
WSEAS Transactions on Circuits and Systems
MIMO adaptive fuzzy terminal sliding-mode controller for robotic manipulators
Information Sciences: an International Journal
Observer-based adaptive iterative learning control for nonlinear systems with time-varying delays
International Journal of Automation and Computing
Nonlinear control of a robot manipulator with time-varying uncertainties
ICSR'10 Proceedings of the Second international conference on Social robotics
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This paper presents adaptive repetitive learning control for trajectory tracking of uncertain robotic manipulators. Through the introduction of a novel Lyapunov-like function, the proposed method only requires the system to start from where it stopped at the last cycle, and avoids the strict requirement for initial repositioning for all the cycles. In addition, it is more applicable, as it only requires the variables to be learned in an iteration-independent manner, rather than satisfying the periodicity requirement in a number of the conventional methods. With the adoption of fully saturated learning, all the signals in the closed loop are guaranteed to be bounded, and the iterative trajectories are proven to follow the profiles of desired trajectories over the entire operation interval. The effectiveness of the proposed method is shown through extensive numerical simulation results.